Speed controller bandwidth
Comment: 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.
| \[10, 250] | 75 | Hz | | **ctl\_dir** (INT32) |Reverse direction
Comment: Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.
| \[0, 1] | 1 | | | **ctl\_gain** (FLOAT) |Speed (RPM) controller gain
Comment: Speed (RPM) controller gain. Determines controller aggressiveness; units are amp-seconds per radian. Systems with higher rotational inertia (large props) will need gain increased; systems with low rotational inertia (small props) may need gain decreased. Higher values result in faster response, but may result in oscillation and excessive overshoot. Lower values result in a slower, smoother response.
| \[0.00, 1.00] | 1 | C/rad | | **ctl\_hz\_idle** (FLOAT) |Idle speed (e Hz)
Comment: Idle speed (e Hz)
| \[0.0, 100.0] | 3.5 | Hz | | **ctl\_start\_rate** (INT32) |Spin-up rate (e Hz/s)
Comment: Spin-up rate (e Hz/s)
| \[5, 1000] | 25 | 1/s^2 | | **esc\_index** (INT32) |Index of this ESC in throttle command messages.
Comment: Index of this ESC in throttle command messages.
| \[0, 15] | 0 | | | **id\_ext\_status** (INT32) |Extended status ID
Comment: Extended status ID
| \[1, 1000000] | 20034 | | | **int\_ext\_status** (INT32) |Extended status interval (µs)
Comment: Extended status interval (µs)
| \[0, 1000000] | 50000 | us | | **int\_status** (INT32) |ESC status interval (µs)
Comment: ESC status interval (µs)
| \[?, 1000000] | 50000 | us | | **mot\_i\_max** (FLOAT) |Motor current limit in amps
Comment: Motor current limit in amps. This determines the maximum current controller setpoint, as well as the maximum allowable current setpoint slew rate. This value should generally be set to 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.
| \[1, 80] | 12 | A | | **mot\_kv** (INT32) |Motor Kv in RPM per volt
Comment: 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.
| \[0, 4000] | 2300 | rpm/V | | **mot\_ls** (FLOAT) |READ ONLY: Motor inductance in henries.
Comment: READ ONLY: Motor inductance in henries. This is measured on start-up.
| | 0.0 | H | | **mot\_num\_poles** (INT32) |Number of motor poles.
Comment: Number of motor poles. Used to convert mechanical speeds to electrical speeds. This number should be taken from the motor’s specification sheet.
| \[2, 40] | 14 | | | **mot\_rs** (FLOAT) |READ ONLY: Motor resistance in ohms
Comment: READ ONLY: Motor resistance in ohms. This is measured on start-up. When tuning a new motor, check that this value is approximately equal to the value shown in the motor’s specification sheet.
| | 0.0 | Ohm | | **mot\_v\_accel** (FLOAT) |Acceleration limit (V)
Comment: Acceleration limit (V)
| \[0.01, 1.00] | 0.5 | V | | **mot\_v\_max** (FLOAT) |Motor voltage limit in volts
Comment: Motor voltage limit in volts. The current controller’s commanded voltage will never exceed this value. Note that this may 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.
| \[0, ?] | 14.8 | V | ## UAVCAN GNSS | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **gnss.dyn\_model** (INT32) |GNSS dynamic model
Comment: Dynamic model used in the GNSS positioning engine. 0 – Automotive, 1 – Sea, 2 – Airborne.
Values:
Broadcast old GNSS fix message
Comment: Broadcast the old (deprecated) GNSS fix message uavcan.equipment.gnss.Fix alongside the new alternative uavcan.equipment.gnss.Fix2. It is recommended to disable this feature to reduce the CAN bus traffic.
Values:
device health warning
Comment: 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.
Values:
First 4 characters of CALLSIGN
Comment: Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, " ". Example "PX4 " -> 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.
Reboot required: true
| | 0 | | | **ADSB\_CALLSIGN\_2** (INT32) |Second 4 characters of CALLSIGN
Comment: Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, " " only. Example "TEST" -> 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.
Reboot required: true
| | 0 | | | **ADSB\_EMERGC** (INT32) |ADSB-Out Emergency State
Comment: Sets the vehicle emergency state
Values:
Reboot required: false
| \[0, 6] | 0 | | | **ADSB\_EMIT\_TYPE** (INT32) |ADSB-Out Vehicle Emitter Type
Comment: Configure the emitter type of the vehicle.
Values:
Reboot required: true
| \[0, 15] | 14 | | | **ADSB\_GPS\_OFF\_LAT** (INT32) |ADSB-Out GPS Offset lat
Comment: Sets GPS lataral offset encoding
Values:
Reboot required: false
| \[0, 7] | 0 | | | **ADSB\_GPS\_OFF\_LON** (INT32) |ADSB-Out GPS Offset lon
Comment: Sets GPS longitudinal offset encoding
Values:
Reboot required: false
| \[0, 1] | 0 | | | **ADSB\_ICAO\_ID** (INT32) |ADSB-Out ICAO configuration
Comment: Defines the ICAO ID of the vehicle
Reboot required: true
| \[-1, 16777215] | 1194684 | | | **ADSB\_ICAO\_SPECL** (INT32) |ADSB-In Special ICAO configuration
Comment: This vehicle is always tracked. Use 0 to disable.
Reboot required: false
| \[0, 16777215] | 0 | | | **ADSB\_IDENT** (INT32) |ADSB-Out Ident Configuration
Comment: Enable Identification of Position feature
Reboot required: false
| | Disabled (0) | | | **ADSB\_LEN\_WIDTH** (INT32) |ADSB-Out Vehicle Size Configuration
Comment: Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.
Values:
Reboot required: true
| \[0, 15] | 1 | | | **ADSB\_LIST\_MAX** (INT32) |ADSB-In Vehicle List Size
Comment: Change number of targets to track
Reboot required: true
| \[0, 50] | 25 | | | **ADSB\_MAX\_SPEED** (INT32) |ADSB-Out Vehicle Max Speed
Comment: Informs ADSB vehicles of this vehicle's max speed capability
Values:
Reboot required: true
| \[0, 6] | 0 | | | **ADSB\_SQUAWK** (INT32) |ADSB-Out squawk code configuration
Comment: This parameter defines the squawk code. Value should be between 0000 and 7777.
Reboot required: false
| \[0, 7777] | 1200 | | ## Actuator Outputs | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **MODAL\_IO\_FUNC1** (INT32) |MODAL IO Output ESC 1 Output Function
Comment: Select what should be output on MODAL IO Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MODAL IO Output ESC 2 Output Function
Comment: Select what should be output on MODAL IO Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MODAL IO Output ESC 3 Output Function
Comment: Select what should be output on MODAL IO Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MODAL IO Output ESC 4 Output Function
Comment: Select what should be output on MODAL IO Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
Reverse Output Range for MODAL IO Output
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
PCA9685 Output Channel 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS10** (INT32) |PCA9685 Output Channel 10 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS11** (INT32) |PCA9685 Output Channel 11 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS12** (INT32) |PCA9685 Output Channel 12 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS13** (INT32) |PCA9685 Output Channel 13 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS14** (INT32) |PCA9685 Output Channel 14 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS15** (INT32) |PCA9685 Output Channel 15 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS16** (INT32) |PCA9685 Output Channel 16 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS2** (INT32) |PCA9685 Output Channel 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS3** (INT32) |PCA9685 Output Channel 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS4** (INT32) |PCA9685 Output Channel 4 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS5** (INT32) |PCA9685 Output Channel 5 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS6** (INT32) |PCA9685 Output Channel 6 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS7** (INT32) |PCA9685 Output Channel 7 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS8** (INT32) |PCA9685 Output Channel 8 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_DIS9** (INT32) |PCA9685 Output Channel 9 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PCA9685\_FAIL1** (INT32) |PCA9685 Output Channel 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC1).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL10** (INT32) |PCA9685 Output Channel 10 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC10).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL11** (INT32) |PCA9685 Output Channel 11 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC11).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL12** (INT32) |PCA9685 Output Channel 12 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC12).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL13** (INT32) |PCA9685 Output Channel 13 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC13).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL14** (INT32) |PCA9685 Output Channel 14 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC14).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL15** (INT32) |PCA9685 Output Channel 15 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC15).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL16** (INT32) |PCA9685 Output Channel 16 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC16).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL2** (INT32) |PCA9685 Output Channel 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC2).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL3** (INT32) |PCA9685 Output Channel 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC3).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL4** (INT32) |PCA9685 Output Channel 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC4).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL5** (INT32) |PCA9685 Output Channel 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC5).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL6** (INT32) |PCA9685 Output Channel 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC6).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL7** (INT32) |PCA9685 Output Channel 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC7).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL8** (INT32) |PCA9685 Output Channel 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC8).
| \[-1, 2200] | -1 | | | **PCA9685\_FAIL9** (INT32) |PCA9685 Output Channel 9 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685\_FUNC9).
| \[-1, 2200] | -1 | | | **PCA9685\_FUNC1** (INT32) |PCA9685 Output Channel 1 Output Function
Comment: Select what should be output on PCA9685 Output Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 10 Output Function
Comment: Select what should be output on PCA9685 Output Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 11 Output Function
Comment: Select what should be output on PCA9685 Output Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 12 Output Function
Comment: Select what should be output on PCA9685 Output Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 13 Output Function
Comment: Select what should be output on PCA9685 Output Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 14 Output Function
Comment: Select what should be output on PCA9685 Output Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 15 Output Function
Comment: Select what should be output on PCA9685 Output Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 16 Output Function
Comment: Select what should be output on PCA9685 Output Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 2 Output Function
Comment: Select what should be output on PCA9685 Output Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 3 Output Function
Comment: Select what should be output on PCA9685 Output Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 4 Output Function
Comment: Select what should be output on PCA9685 Output Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 5 Output Function
Comment: Select what should be output on PCA9685 Output Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 6 Output Function
Comment: Select what should be output on PCA9685 Output Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 7 Output Function
Comment: Select what should be output on PCA9685 Output Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 8 Output Function
Comment: Select what should be output on PCA9685 Output Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 9 Output Function
Comment: Select what should be output on PCA9685 Output Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PCA9685 Output Channel 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX10** (INT32) |PCA9685 Output Channel 10 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX11** (INT32) |PCA9685 Output Channel 11 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX12** (INT32) |PCA9685 Output Channel 12 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX13** (INT32) |PCA9685 Output Channel 13 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX14** (INT32) |PCA9685 Output Channel 14 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX15** (INT32) |PCA9685 Output Channel 15 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX16** (INT32) |PCA9685 Output Channel 16 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX2** (INT32) |PCA9685 Output Channel 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX3** (INT32) |PCA9685 Output Channel 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX4** (INT32) |PCA9685 Output Channel 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX5** (INT32) |PCA9685 Output Channel 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX6** (INT32) |PCA9685 Output Channel 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX7** (INT32) |PCA9685 Output Channel 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX8** (INT32) |PCA9685 Output Channel 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MAX9** (INT32) |PCA9685 Output Channel 9 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PCA9685\_MIN1** (INT32) |PCA9685 Output Channel 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN10** (INT32) |PCA9685 Output Channel 10 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN11** (INT32) |PCA9685 Output Channel 11 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN12** (INT32) |PCA9685 Output Channel 12 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN13** (INT32) |PCA9685 Output Channel 13 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN14** (INT32) |PCA9685 Output Channel 14 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN15** (INT32) |PCA9685 Output Channel 15 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN16** (INT32) |PCA9685 Output Channel 16 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN2** (INT32) |PCA9685 Output Channel 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN3** (INT32) |PCA9685 Output Channel 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN4** (INT32) |PCA9685 Output Channel 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN5** (INT32) |PCA9685 Output Channel 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN6** (INT32) |PCA9685 Output Channel 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN7** (INT32) |PCA9685 Output Channel 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN8** (INT32) |PCA9685 Output Channel 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_MIN9** (INT32) |PCA9685 Output Channel 9 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PCA9685\_REV** (INT32) |Reverse Output Range for PCA9685 Output
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
PWM Aux 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS10** (INT32) |PWM Capture 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS11** (INT32) |PWM Capture 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS2** (INT32) |PWM Aux 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS3** (INT32) |PWM Aux 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS4** (INT32) |PWM Aux 4 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS5** (INT32) |PWM Aux 5 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS6** (INT32) |PWM Aux 6 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS7** (INT32) |PWM Aux 7 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS8** (INT32) |PWM Aux 8 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_DIS9** (INT32) |PWM Capture 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_AUX\_FAIL1** (INT32) |PWM Aux 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC1).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL10** (INT32) |PWM Capture 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC2).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL11** (INT32) |PWM Capture 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC3).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL2** (INT32) |PWM Aux 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC2).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL3** (INT32) |PWM Aux 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC3).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL4** (INT32) |PWM Aux 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC4).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL5** (INT32) |PWM Aux 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC5).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL6** (INT32) |PWM Aux 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC6).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL7** (INT32) |PWM Aux 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC7).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL8** (INT32) |PWM Aux 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC8).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FAIL9** (INT32) |PWM Capture 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_AUX\_FUNC1).
| \[-1, 2200] | -1 | | | **PWM\_AUX\_FUNC1** (INT32) |PWM Aux 1 Output Function
Comment: Select what should be output on PWM Aux 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Capture 2 Output Function
Comment: Select what should be output on PWM Capture 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Capture 3 Output Function
Comment: Select what should be output on PWM Capture 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 2 Output Function
Comment: Select what should be output on PWM Aux 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 3 Output Function
Comment: Select what should be output on PWM Aux 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 4 Output Function
Comment: Select what should be output on PWM Aux 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 5 Output Function
Comment: Select what should be output on PWM Aux 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 6 Output Function
Comment: Select what should be output on PWM Aux 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 7 Output Function
Comment: Select what should be output on PWM Aux 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 8 Output Function
Comment: Select what should be output on PWM Aux 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Capture 1 Output Function
Comment: Select what should be output on PWM Capture 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
PWM Aux 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX10** (INT32) |PWM Capture 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX11** (INT32) |PWM Capture 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX2** (INT32) |PWM Aux 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX3** (INT32) |PWM Aux 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX4** (INT32) |PWM Aux 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX5** (INT32) |PWM Aux 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX6** (INT32) |PWM Aux 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX7** (INT32) |PWM Aux 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX8** (INT32) |PWM Aux 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MAX9** (INT32) |PWM Capture 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_AUX\_MIN1** (INT32) |PWM Aux 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN10** (INT32) |PWM Capture 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN11** (INT32) |PWM Capture 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN2** (INT32) |PWM Aux 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN3** (INT32) |PWM Aux 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN4** (INT32) |PWM Aux 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN5** (INT32) |PWM Aux 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN6** (INT32) |PWM Aux 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN7** (INT32) |PWM Aux 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN8** (INT32) |PWM Aux 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_MIN9** (INT32) |PWM Capture 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_AUX\_REV** (INT32) |Reverse Output Range for PWM AUX
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
Output Protocol Configuration for PWM Aux 1-4
Comment: Select which Output Protocol to use for outputs PWM Aux 1-4. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **PWM\_AUX\_TIM1** (INT32) |Output Protocol Configuration for PWM Aux 5-6
Comment: Select which Output Protocol to use for outputs PWM Aux 5-6. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **PWM\_AUX\_TIM2** (INT32) |Output Protocol Configuration for PWM Aux 7-8
Comment: Select which Output Protocol to use for outputs PWM Aux 7-8. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **PWM\_AUX\_TIM3** (INT32) |Output Protocol Configuration for PWM Capture 1-3
Comment: Select which Output Protocol to use for outputs PWM Capture 1-3. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **PWM\_MAIN\_DIS1** (INT32) |MAIN 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS2** (INT32) |MAIN 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS3** (INT32) |MAIN 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS4** (INT32) |MAIN 4 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS5** (INT32) |MAIN 5 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS6** (INT32) |MAIN 6 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS7** (INT32) |MAIN 7 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_DIS8** (INT32) |MAIN 8 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[800, 2200] | 1000 | | | **PWM\_MAIN\_FAIL1** (INT32) |MAIN 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC1).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL2** (INT32) |MAIN 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC2).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL3** (INT32) |MAIN 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC3).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL4** (INT32) |MAIN 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC4).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL5** (INT32) |MAIN 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC5).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL6** (INT32) |MAIN 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC6).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL7** (INT32) |MAIN 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC7).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FAIL8** (INT32) |MAIN 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM\_MAIN\_FUNC8).
| \[-1, 2200] | -1 | | | **PWM\_MAIN\_FUNC1** (INT32) |MAIN 1 Output Function
Comment: Select what should be output on MAIN 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 2 Output Function
Comment: Select what should be output on MAIN 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 3 Output Function
Comment: Select what should be output on MAIN 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 4 Output Function
Comment: Select what should be output on MAIN 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 5 Output Function
Comment: Select what should be output on MAIN 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 6 Output Function
Comment: Select what should be output on MAIN 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 7 Output Function
Comment: Select what should be output on MAIN 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 8 Output Function
Comment: Select what should be output on MAIN 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
MAIN 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX2** (INT32) |MAIN 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX3** (INT32) |MAIN 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX4** (INT32) |MAIN 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX5** (INT32) |MAIN 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX6** (INT32) |MAIN 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX7** (INT32) |MAIN 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MAX8** (INT32) |MAIN 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[1600, 2200] | 2000 | | | **PWM\_MAIN\_MIN1** (INT32) |MAIN 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN2** (INT32) |MAIN 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN3** (INT32) |MAIN 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN4** (INT32) |MAIN 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN5** (INT32) |MAIN 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN6** (INT32) |MAIN 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN7** (INT32) |MAIN 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_MIN8** (INT32) |MAIN 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[800, 1400] | 1000 | | | **PWM\_MAIN\_REV** (INT32) |Reverse Output Range for PWM MAIN
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
Output Protocol Configuration for MAIN 1-2
Comment: Select which Output Protocol to use for outputs MAIN 1-2. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **PWM\_MAIN\_TIM1** (INT32) |Output Protocol Configuration for MAIN 3-4
Comment: Select which Output Protocol to use for outputs MAIN 3-4. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **PWM\_MAIN\_TIM2** (INT32) |Output Protocol Configuration for MAIN 5-8
Comment: Select which Output Protocol to use for outputs MAIN 5-8. Custom PWM rates can be used by directly setting any value >0.
Values:
Reboot required: True
| | 400 | | | **SIM\_GZ\_EC\_DIS1** (INT32) |SIM\_GZ ESC 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS2** (INT32) |SIM\_GZ ESC 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS3** (INT32) |SIM\_GZ ESC 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS4** (INT32) |SIM\_GZ ESC 4 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS5** (INT32) |SIM\_GZ ESC 5 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS6** (INT32) |SIM\_GZ ESC 6 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS7** (INT32) |SIM\_GZ ESC 7 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_DIS8** (INT32) |SIM\_GZ ESC 8 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_FAIL1** (INT32) |SIM\_GZ ESC 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC1).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL2** (INT32) |SIM\_GZ ESC 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC2).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL3** (INT32) |SIM\_GZ ESC 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC3).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL4** (INT32) |SIM\_GZ ESC 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC4).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL5** (INT32) |SIM\_GZ ESC 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC5).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL6** (INT32) |SIM\_GZ ESC 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC6).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL7** (INT32) |SIM\_GZ ESC 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC7).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FAIL8** (INT32) |SIM\_GZ ESC 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_EC\_FUNC8).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_EC\_FUNC1** (INT32) |SIM\_GZ ESC 1 Output Function
Comment: Select what should be output on SIM\_GZ ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 2 Output Function
Comment: Select what should be output on SIM\_GZ ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 3 Output Function
Comment: Select what should be output on SIM\_GZ ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 4 Output Function
Comment: Select what should be output on SIM\_GZ ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 5 Output Function
Comment: Select what should be output on SIM\_GZ ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 6 Output Function
Comment: Select what should be output on SIM\_GZ ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 7 Output Function
Comment: Select what should be output on SIM\_GZ ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 8 Output Function
Comment: Select what should be output on SIM\_GZ ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ ESC 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX2** (INT32) |SIM\_GZ ESC 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX3** (INT32) |SIM\_GZ ESC 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX4** (INT32) |SIM\_GZ ESC 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX5** (INT32) |SIM\_GZ ESC 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX6** (INT32) |SIM\_GZ ESC 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX7** (INT32) |SIM\_GZ ESC 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MAX8** (INT32) |SIM\_GZ ESC 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_EC\_MIN1** (INT32) |SIM\_GZ ESC 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN2** (INT32) |SIM\_GZ ESC 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN3** (INT32) |SIM\_GZ ESC 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN4** (INT32) |SIM\_GZ ESC 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN5** (INT32) |SIM\_GZ ESC 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN6** (INT32) |SIM\_GZ ESC 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN7** (INT32) |SIM\_GZ ESC 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_MIN8** (INT32) |SIM\_GZ ESC 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_EC\_REV** (INT32) |Reverse Output Range for SIM\_GZ
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
SIM\_GZ Servo 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS2** (INT32) |SIM\_GZ Servo 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS3** (INT32) |SIM\_GZ Servo 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS4** (INT32) |SIM\_GZ Servo 4 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS5** (INT32) |SIM\_GZ Servo 5 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS6** (INT32) |SIM\_GZ Servo 6 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS7** (INT32) |SIM\_GZ Servo 7 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_DIS8** (INT32) |SIM\_GZ Servo 8 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **SIM\_GZ\_SV\_FAIL1** (INT32) |SIM\_GZ Servo 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC1).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL2** (INT32) |SIM\_GZ Servo 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC2).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL3** (INT32) |SIM\_GZ Servo 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC3).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL4** (INT32) |SIM\_GZ Servo 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC4).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL5** (INT32) |SIM\_GZ Servo 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC5).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL6** (INT32) |SIM\_GZ Servo 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC6).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL7** (INT32) |SIM\_GZ Servo 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC7).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FAIL8** (INT32) |SIM\_GZ Servo 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM\_GZ\_SV\_FUNC8).
| \[-1, 1000] | -1 | | | **SIM\_GZ\_SV\_FUNC1** (INT32) |SIM\_GZ Servo 1 Output Function
Comment: Select what should be output on SIM\_GZ Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 2 Output Function
Comment: Select what should be output on SIM\_GZ Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 3 Output Function
Comment: Select what should be output on SIM\_GZ Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 4 Output Function
Comment: Select what should be output on SIM\_GZ Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 5 Output Function
Comment: Select what should be output on SIM\_GZ Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 6 Output Function
Comment: Select what should be output on SIM\_GZ Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 7 Output Function
Comment: Select what should be output on SIM\_GZ Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 8 Output Function
Comment: Select what should be output on SIM\_GZ Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
SIM\_GZ Servo 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX2** (INT32) |SIM\_GZ Servo 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX3** (INT32) |SIM\_GZ Servo 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX4** (INT32) |SIM\_GZ Servo 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX5** (INT32) |SIM\_GZ Servo 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX6** (INT32) |SIM\_GZ Servo 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX7** (INT32) |SIM\_GZ Servo 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MAX8** (INT32) |SIM\_GZ Servo 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **SIM\_GZ\_SV\_MIN1** (INT32) |SIM\_GZ Servo 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN2** (INT32) |SIM\_GZ Servo 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN3** (INT32) |SIM\_GZ Servo 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN4** (INT32) |SIM\_GZ Servo 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN5** (INT32) |SIM\_GZ Servo 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN6** (INT32) |SIM\_GZ Servo 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN7** (INT32) |SIM\_GZ Servo 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_MIN8** (INT32) |SIM\_GZ Servo 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **SIM\_GZ\_SV\_REV** (INT32) |Reverse Output Range for SIM\_GZ
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
TAP ESC Output ESC 1 Output Function
Comment: Select what should be output on TAP ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 2 Output Function
Comment: Select what should be output on TAP ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 3 Output Function
Comment: Select what should be output on TAP ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 4 Output Function
Comment: Select what should be output on TAP ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 5 Output Function
Comment: Select what should be output on TAP ESC Output ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 6 Output Function
Comment: Select what should be output on TAP ESC Output ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 7 Output Function
Comment: Select what should be output on TAP ESC Output ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
TAP ESC Output ESC 8 Output Function
Comment: Select what should be output on TAP ESC Output ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
Reverse Output Range for TAP ESC Output
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
UAVCAN ESC 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC1).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL2** (INT32) |UAVCAN ESC 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC2).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL3** (INT32) |UAVCAN ESC 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC3).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL4** (INT32) |UAVCAN ESC 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC4).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL5** (INT32) |UAVCAN ESC 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC5).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL6** (INT32) |UAVCAN ESC 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC6).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL7** (INT32) |UAVCAN ESC 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC7).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FAIL8** (INT32) |UAVCAN ESC 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_EC\_FUNC8).
| \[-1, 8191] | -1 | | | **UAVCAN\_EC\_FUNC1** (INT32) |UAVCAN ESC 1 Output Function
Comment: Select what should be output on UAVCAN ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 2 Output Function
Comment: Select what should be output on UAVCAN ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 3 Output Function
Comment: Select what should be output on UAVCAN ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 4 Output Function
Comment: Select what should be output on UAVCAN ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 5 Output Function
Comment: Select what should be output on UAVCAN ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 6 Output Function
Comment: Select what should be output on UAVCAN ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 7 Output Function
Comment: Select what should be output on UAVCAN ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 8 Output Function
Comment: Select what should be output on UAVCAN ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN ESC 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX2** (INT32) |UAVCAN ESC 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX3** (INT32) |UAVCAN ESC 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX4** (INT32) |UAVCAN ESC 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX5** (INT32) |UAVCAN ESC 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX6** (INT32) |UAVCAN ESC 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX7** (INT32) |UAVCAN ESC 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MAX8** (INT32) |UAVCAN ESC 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UAVCAN\_EC\_MIN1** (INT32) |UAVCAN ESC 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN2** (INT32) |UAVCAN ESC 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN3** (INT32) |UAVCAN ESC 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN4** (INT32) |UAVCAN ESC 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN5** (INT32) |UAVCAN ESC 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN6** (INT32) |UAVCAN ESC 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN7** (INT32) |UAVCAN ESC 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_MIN8** (INT32) |UAVCAN ESC 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UAVCAN\_EC\_REV** (INT32) |Reverse Output Range for UAVCAN
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
UAVCAN Servo 1 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS2** (INT32) |UAVCAN Servo 2 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS3** (INT32) |UAVCAN Servo 3 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS4** (INT32) |UAVCAN Servo 4 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS5** (INT32) |UAVCAN Servo 5 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS6** (INT32) |UAVCAN Servo 6 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS7** (INT32) |UAVCAN Servo 7 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_DIS8** (INT32) |UAVCAN Servo 8 Disarmed Value
Comment: This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM\_PREARM\_MODE is set.
| \[0, 1000] | 500 | | | **UAVCAN\_SV\_FAIL1** (INT32) |UAVCAN Servo 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC1).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL2** (INT32) |UAVCAN Servo 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC2).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL3** (INT32) |UAVCAN Servo 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC3).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL4** (INT32) |UAVCAN Servo 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC4).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL5** (INT32) |UAVCAN Servo 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC5).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL6** (INT32) |UAVCAN Servo 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC6).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL7** (INT32) |UAVCAN Servo 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC7).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FAIL8** (INT32) |UAVCAN Servo 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN\_SV\_FUNC8).
| \[-1, 1000] | -1 | | | **UAVCAN\_SV\_FUNC1** (INT32) |UAVCAN Servo 1 Output Function
Comment: Select what should be output on UAVCAN Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 2 Output Function
Comment: Select what should be output on UAVCAN Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 3 Output Function
Comment: Select what should be output on UAVCAN Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 4 Output Function
Comment: Select what should be output on UAVCAN Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 5 Output Function
Comment: Select what should be output on UAVCAN Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 6 Output Function
Comment: Select what should be output on UAVCAN Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 7 Output Function
Comment: Select what should be output on UAVCAN Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 8 Output Function
Comment: Select what should be output on UAVCAN Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCAN Servo 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX2** (INT32) |UAVCAN Servo 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX3** (INT32) |UAVCAN Servo 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX4** (INT32) |UAVCAN Servo 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX5** (INT32) |UAVCAN Servo 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX6** (INT32) |UAVCAN Servo 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX7** (INT32) |UAVCAN Servo 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MAX8** (INT32) |UAVCAN Servo 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 1000] | 1000 | | | **UAVCAN\_SV\_MIN1** (INT32) |UAVCAN Servo 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN2** (INT32) |UAVCAN Servo 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN3** (INT32) |UAVCAN Servo 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN4** (INT32) |UAVCAN Servo 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN5** (INT32) |UAVCAN Servo 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN6** (INT32) |UAVCAN Servo 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN7** (INT32) |UAVCAN Servo 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_MIN8** (INT32) |UAVCAN Servo 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 1000] | 0 | | | **UAVCAN\_SV\_REV** (INT32) |Reverse Output Range for UAVCAN
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
UAVCANv1 ESC 1 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC1).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL10** (INT32) |UAVCANv1 ESC 10 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC10).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL11** (INT32) |UAVCANv1 ESC 11 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC11).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL12** (INT32) |UAVCANv1 ESC 12 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC12).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL13** (INT32) |UAVCANv1 ESC 13 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC13).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL14** (INT32) |UAVCANv1 ESC 14 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC14).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL15** (INT32) |UAVCANv1 ESC 15 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC15).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL16** (INT32) |UAVCANv1 ESC 16 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC16).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL2** (INT32) |UAVCANv1 ESC 2 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC2).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL3** (INT32) |UAVCANv1 ESC 3 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC3).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL4** (INT32) |UAVCANv1 ESC 4 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC4).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL5** (INT32) |UAVCANv1 ESC 5 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC5).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL6** (INT32) |UAVCANv1 ESC 6 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC6).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL7** (INT32) |UAVCANv1 ESC 7 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC7).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL8** (INT32) |UAVCANv1 ESC 8 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC8).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FAIL9** (INT32) |UAVCANv1 ESC 9 Failsafe Value
Comment: This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1\_ESC\_FUNC9).
| \[-1, 8191] | -1 | | | **UCAN1\_ESC\_FUNC1** (INT32) |UAVCANv1 ESC 1 Output Function
Comment: Select what should be output on UAVCANv1 ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 10 Output Function
Comment: Select what should be output on UAVCANv1 ESC 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 11 Output Function
Comment: Select what should be output on UAVCANv1 ESC 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 12 Output Function
Comment: Select what should be output on UAVCANv1 ESC 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 13 Output Function
Comment: Select what should be output on UAVCANv1 ESC 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 14 Output Function
Comment: Select what should be output on UAVCANv1 ESC 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 15 Output Function
Comment: Select what should be output on UAVCANv1 ESC 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 16 Output Function
Comment: Select what should be output on UAVCANv1 ESC 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 2 Output Function
Comment: Select what should be output on UAVCANv1 ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 3 Output Function
Comment: Select what should be output on UAVCANv1 ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 4 Output Function
Comment: Select what should be output on UAVCANv1 ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 5 Output Function
Comment: Select what should be output on UAVCANv1 ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 6 Output Function
Comment: Select what should be output on UAVCANv1 ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 7 Output Function
Comment: Select what should be output on UAVCANv1 ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 8 Output Function
Comment: Select what should be output on UAVCANv1 ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 9 Output Function
Comment: Select what should be output on UAVCANv1 ESC 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest
Values:
UAVCANv1 ESC 1 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX10** (INT32) |UAVCANv1 ESC 10 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX11** (INT32) |UAVCANv1 ESC 11 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX12** (INT32) |UAVCANv1 ESC 12 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX13** (INT32) |UAVCANv1 ESC 13 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX14** (INT32) |UAVCANv1 ESC 14 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX15** (INT32) |UAVCANv1 ESC 15 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX16** (INT32) |UAVCANv1 ESC 16 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX2** (INT32) |UAVCANv1 ESC 2 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX3** (INT32) |UAVCANv1 ESC 3 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX4** (INT32) |UAVCANv1 ESC 4 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX5** (INT32) |UAVCANv1 ESC 5 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX6** (INT32) |UAVCANv1 ESC 6 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX7** (INT32) |UAVCANv1 ESC 7 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX8** (INT32) |UAVCANv1 ESC 8 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MAX9** (INT32) |UAVCANv1 ESC 9 Maximum Value
Comment: Maxmimum output value (when not disarmed).
| \[0, 8191] | 8191 | | | **UCAN1\_ESC\_MIN1** (INT32) |UAVCANv1 ESC 1 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN10** (INT32) |UAVCANv1 ESC 10 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN11** (INT32) |UAVCANv1 ESC 11 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN12** (INT32) |UAVCANv1 ESC 12 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN13** (INT32) |UAVCANv1 ESC 13 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN14** (INT32) |UAVCANv1 ESC 14 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN15** (INT32) |UAVCANv1 ESC 15 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN16** (INT32) |UAVCANv1 ESC 16 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN2** (INT32) |UAVCANv1 ESC 2 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN3** (INT32) |UAVCANv1 ESC 3 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN4** (INT32) |UAVCANv1 ESC 4 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN5** (INT32) |UAVCANv1 ESC 5 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN6** (INT32) |UAVCANv1 ESC 6 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN7** (INT32) |UAVCANv1 ESC 7 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN8** (INT32) |UAVCANv1 ESC 8 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_MIN9** (INT32) |UAVCANv1 ESC 9 Minimum Value
Comment: Minimum output value (when not disarmed).
| \[0, 8191] | 1 | | | **UCAN1\_ESC\_REV** (INT32) |Reverse Output Range for UAVCANv1
Comment: Allows to reverse the output range for each channel. Note: this is only useful for servos.
Bitmask:
Airspeed Selector: Gate size for sideslip angle fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1, 5] | 1 | SD | | **ASPD\_BETA\_NOISE** (FLOAT) |Airspeed Selector: Wind estimator sideslip measurement noise
Comment: Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.
| \[0, 1] | 0.3 | rad | | **ASPD\_DO\_CHECKS** (INT32) |Enable checks on airspeed sensors
Comment: 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.
Bitmask:
Enable fallback to sensor-less airspeed estimation
Comment: If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.
Values:
Airspeed failure innovation threshold
Comment: This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD\_FS\_INTEG parameter.
| \[0.5, 10.0] | 5. | m/s | | **ASPD\_FS\_INTEG** (FLOAT) |Airspeed failure innovation integral threshold
Comment: This sets the time integral of airspeed innovation exceedance above ASPD\_FS\_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.
| \[0.0, 50.0] | 10. | m | | **ASPD\_FS\_T\_START** (INT32) |Airspeed failsafe start delay
Comment: Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.
| \[-1, 1000] | -1 | s | | **ASPD\_FS\_T\_STOP** (INT32) |Airspeed failsafe stop delay
Comment: Delay before stopping use of airspeed sensor if checks indicate sensor is bad.
| \[1, 10] | 2 | s | | **ASPD\_PRIMARY** (INT32) |Index or primary airspeed measurement source Values:
Reboot required: true
| | 1 | | | **ASPD\_SCALE\_1** (FLOAT) |Scale of airspeed sensor 1
Comment: This is the scale IAS --> CAS of the first airspeed sensor instance
Reboot required: true
| \[0.5, 2.0] | 1.0 | | | **ASPD\_SCALE\_2** (FLOAT) |Scale of airspeed sensor 2
Comment: This is the scale IAS --> CAS of the second airspeed sensor instance
Reboot required: true
| \[0.5, 2.0] | 1.0 | | | **ASPD\_SCALE\_3** (FLOAT) |Scale of airspeed sensor 3
Comment: This is the scale IAS --> CAS of the third airspeed sensor instance
Reboot required: true
| \[0.5, 2.0] | 1.0 | | | **ASPD\_SCALE\_APPLY** (INT32) |Controls when to apply the new estimated airspeed scale(s) Values:
Airspeed Selector: Wind estimator true airspeed scale process noise spectral density
Comment: 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.
| \[0, 0.1] | 1.e-4 | 1/s/sqrt(Hz) | | **ASPD\_TAS\_GATE** (INT32) |Airspeed Selector: Gate size for true airspeed fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1, 5] | 3 | SD | | **ASPD\_TAS\_NOISE** (FLOAT) |Airspeed Selector: Wind estimator true airspeed measurement noise
Comment: True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.
| \[0, 4] | 1.4 | m/s | | **ASPD\_WERR\_THR** (FLOAT) |Horizontal wind uncertainty threshold for synthetic airspeed
Comment: 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.
| \[0.001, 5] | 0.55 | m/s | | **ASPD\_WIND\_NSD** (FLOAT) |Airspeed Selector: Wind estimator wind process noise noise spectral density
Comment: 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.
| \[0, 1] | 1.e-2 | m/s^2/sqrt(Hz) | ## Attitude Q estimator | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **ATT\_ACC\_COMP** (INT32) | Acceleration compensation based on GPS velocity | | Disabled (0) | | | **ATT\_BIAS\_MAX** (FLOAT) | Gyro bias limit | \[0, 2] | 0.05 | rad/s | | **ATT\_EXT\_HDG\_M** (INT32) |External heading usage mode (from Motion capture/Vision)
Comment: Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.
Values:
Magnetic declination, in degrees
Comment: This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.
| | 0.0 | deg | | **ATT\_MAG\_DECL\_A** (INT32) | Automatic GPS based declination compensation | | Enabled (1) | | | **ATT\_W\_ACC** (FLOAT) | Complimentary filter accelerometer weight | \[0, 1] | 0.2 | | | **ATT\_W\_EXT\_HDG** (FLOAT) | Complimentary filter external heading weight | \[0, 1] | 0.1 | | | **ATT\_W\_GYRO\_BIAS** (FLOAT) | Complimentary filter gyroscope bias weight | \[0, 1] | 0.1 | | | **ATT\_W\_MAG** (FLOAT) |Complimentary filter magnetometer weight
Comment: Set to 0 to avoid using the magnetometer.
| \[0, 1] | 0.1 | | ## Autotune | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **FW\_AT\_APPLY** (INT32) |Controls when to apply the new gains
Comment: After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.
Values:
Tuning axes selection
Comment: Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw
Bitmask:
Enable/disable auto tuning using an RC AUX input
Comment: Defines which RC\_MAP\_AUXn parameter maps the RC channel used to enable/disable auto tuning.
Values:
Start the autotuning sequence
Comment: WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW\_AT\_SYSID\_AMP for more signal/noise ratio
| | Disabled (0) | | | **FW\_AT\_SYSID\_AMP** (FLOAT) |Amplitude of the injected signal
Comment: This parameter scales the signal sent to the rate controller during system identification.
| \[0.1, 6.0] | 1.0 | | | **MC\_AT\_APPLY** (INT32) |Controls when to apply the new gains
Comment: After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.
Values:
Start the autotuning sequence
Comment: WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC\_AT\_SYSID\_AMP for more signal/noise ratio
| | Disabled (0) | | | **MC\_AT\_SYSID\_AMP** (FLOAT) | Amplitude of the injected signal | \[0.1, 6.0] | 0.7 | | ## Battery Calibration | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------- | ------- | ----- | | **BAT1\_A\_PER\_V** (FLOAT) |Battery 1 current per volt (A/V)
Comment: The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
Reboot required: True
| | -1.0 | | | **BAT1\_CAPACITY** (FLOAT) |Battery 1 capacity
Comment: Defines the capacity of battery 1 in mAh.
Reboot required: True
| \[-1.0, 100000] (50) | -1.0 | mAh | | **BAT1\_I\_CHANNEL** (INT32) |Battery 1 Current ADC Channel
Comment: This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.
Reboot required: True
| | -1 | | | **BAT1\_N\_CELLS** (INT32) |Number of cells for battery 1
Comment: Defines the number of cells the attached battery consists of.
Values:
Reboot required: True
| | 0 | | | **BAT1\_R\_INTERNAL** (FLOAT) |Explicitly defines the per cell internal resistance for battery 1
Comment: If non-negative, then this will be used in place of BAT1\_V\_LOAD\_DROP for all calculations.
Reboot required: True
| \[-1.0, 0.2] (0.0005) | 0.005 | Ohm | | **BAT1\_SOURCE** (INT32) |Battery 1 monitoring source
Comment: This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc\_status message. This requires the ESC to provide both voltage as well as current.
Values:
Reboot required: True
| | 0 | | | **BAT1\_V\_CHANNEL** (INT32) |Battery 1 Voltage ADC Channel
Comment: This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
Reboot required: True
| | -1 | | | **BAT1\_V\_CHARGED** (FLOAT) |Full cell voltage (5C load)
Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V
Reboot required: True
| (0.01) | 4.05 | V | | **BAT1\_V\_DIV** (FLOAT) |Battery 1 voltage divider (V divider)
Comment: This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
Reboot required: True
| | -1.0 | | | **BAT1\_V\_EMPTY** (FLOAT) |Empty cell voltage (5C load)
Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
Reboot required: True
| (0.01) | 3.6 | V | | **BAT1\_V\_LOAD\_DROP** (FLOAT) |Voltage drop per cell on full throttle
Comment: This implicitly defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1\_R\_INTERNAL is set.
Reboot required: True
| \[0.07, 0.5] (0.01) | 0.1 | V | | **BAT2\_A\_PER\_V** (FLOAT) |Battery 2 current per volt (A/V)
Comment: The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
Reboot required: True
| | -1.0 | | | **BAT2\_CAPACITY** (FLOAT) |Battery 2 capacity
Comment: Defines the capacity of battery 2 in mAh.
Reboot required: True
| \[-1.0, 100000] (50) | -1.0 | mAh | | **BAT2\_I\_CHANNEL** (INT32) |Battery 2 Current ADC Channel
Comment: This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.
Reboot required: True
| | -1 | | | **BAT2\_N\_CELLS** (INT32) |Number of cells for battery 2
Comment: Defines the number of cells the attached battery consists of.
Values:
Reboot required: True
| | 0 | | | **BAT2\_R\_INTERNAL** (FLOAT) |Explicitly defines the per cell internal resistance for battery 2
Comment: If non-negative, then this will be used in place of BAT2\_V\_LOAD\_DROP for all calculations.
Reboot required: True
| \[-1.0, 0.2] (0.0005) | 0.005 | Ohm | | **BAT2\_SOURCE** (INT32) |Battery 2 monitoring source
Comment: This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc\_status message. This requires the ESC to provide both voltage as well as current.
Values:
Reboot required: True
| | -1 | | | **BAT2\_V\_CHANNEL** (INT32) |Battery 2 Voltage ADC Channel
Comment: This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
Reboot required: True
| | -1 | | | **BAT2\_V\_CHARGED** (FLOAT) |Full cell voltage (5C load)
Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V
Reboot required: True
| (0.01) | 4.05 | V | | **BAT2\_V\_DIV** (FLOAT) |Battery 2 voltage divider (V divider)
Comment: This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
Reboot required: True
| | -1.0 | | | **BAT2\_V\_EMPTY** (FLOAT) |Empty cell voltage (5C load)
Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
Reboot required: True
| (0.01) | 3.6 | V | | **BAT2\_V\_LOAD\_DROP** (FLOAT) |Voltage drop per cell on full throttle
Comment: This implicitly defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2\_R\_INTERNAL is set.
Reboot required: True
| \[0.07, 0.5] (0.01) | 0.1 | V | | **BAT\_ADC\_CHANNEL** (INT32) | This parameter is deprecated. Please use BAT1\_I\_CHANNEL | | -1 | | | **BAT\_AVRG\_CURRENT** (FLOAT) |Expected battery current in flight
Comment: This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.
| \[0, 500] (0.1) | 15.0 | A | | **BAT\_CRIT\_THR** (FLOAT) |Critical threshold
Comment: Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.
| \[0.05, 0.25] (0.01) | 0.07 | norm | | **BAT\_EMERGEN\_THR** (FLOAT) |Emergency threshold
Comment: Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.
| \[0.03, 0.1] (0.01) | 0.05 | norm | | **BAT\_LOW\_THR** (FLOAT) |Low threshold
Comment: Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.
| \[0.12, 0.5] (0.01) | 0.15 | norm | | **BAT\_N\_CELLS** (INT32) | This parameter is deprecated. Please use BAT1\_N\_CELLS instead | | 3 | | | **BAT\_V\_CHARGED** (FLOAT) | This parameter is deprecated. Please use BAT1\_V\_CHARGED instead | | 4.05 | | | **BAT\_V\_EMPTY** (FLOAT) | This parameter is deprecated. Please use BAT1\_V\_EMPTY instead | | 3.6 | | | **BAT\_V\_LOAD\_DROP** (FLOAT) | This parameter is deprecated. Please use BAT1\_V\_LOAD\_DROP instead | | 0.3 | | | **BAT\_V\_OFFS\_CURR** (FLOAT) |Offset in volt as seen by the ADC input of the current sensor
Comment: This offset will be subtracted before calculating the battery current based on the voltage.
| | 0.0 | | ## Camera Capture | Name | Description | \[Min, Max] (Incr.) | Default | Units | | --------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **CAM\_CAP\_DELAY** (FLOAT) |Camera strobe delay
Comment: This parameter sets the delay between image integration start and strobe firing
| \[0.0, 100.0] | 0.0 | ms | ## Camera Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | --------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **CAM\_CAP\_EDGE** (INT32) |Camera capture edge Values:
Reboot required: true
| | 0 | | | **CAM\_CAP\_FBACK** (INT32) |Camera capture feedback
Comment: Enables camera capture feedback
Reboot required: true
| | Disabled (0) | | | **CAM\_CAP\_MODE** (INT32) |Camera capture timestamping mode
Comment: Change time measurement
Values:
Reboot required: true
| | 0 | | ## Camera trigger | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **TRIG\_ACT\_TIME** (FLOAT) |Camera trigger activation time
Comment: This parameter sets the time the trigger needs to pulled high or low.
Reboot required: true
| \[0.1, 3000] | 40.0 | ms | | **TRIG\_DISTANCE** (FLOAT) |Camera trigger distance
Comment: Sets the distance at which to trigger the camera.
Reboot required: true
| \[0, ?] (1) | 25.0 | m | | **TRIG\_INTERFACE** (INT32) |Camera trigger Interface
Comment: Selects the trigger interface
Values:
Reboot required: true
| | 4 | | | **TRIG\_INTERVAL** (FLOAT) |Camera trigger interval
Comment: This parameter sets the time between two consecutive trigger events
Reboot required: true
| \[4.0, 10000.0] | 40.0 | ms | | **TRIG\_MIN\_INTERVA** (FLOAT) |Minimum camera trigger interval
Comment: This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.
Reboot required: true
| \[1.0, 10000.0] | 1.0 | ms | | **TRIG\_MODE** (INT32) |Camera trigger mode Values:
Reboot required: true
| \[0, 4] | 0 | | | **TRIG\_POLARITY** (INT32) |Camera trigger polarity
Comment: This parameter sets the polarity of the trigger (0 = active low, 1 = active high )
Values:
Reboot required: true
| \[0, 1] | 0 | | | **TRIG\_PWM\_NEUTRAL** (INT32) |PWM neutral output on trigger pin
Reboot required: true
| \[1000, 2000] | 1500 | us | | **TRIG\_PWM\_SHOOT** (INT32) |PWM output to trigger shot
Reboot required: true
| \[1000, 2000] | 1900 | us | ## Circuit Breaker | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **CBRK\_AIRSPD\_CHK** (INT32) |Circuit breaker for airspeed sensor
Comment: Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| \[0, 162128] | 0 | | | **CBRK\_BUZZER** (INT32) |Circuit breaker for disabling buzzer
Comment: Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.
Reboot required: true
| \[0, 782097] | 0 | | | **CBRK\_FLIGHTTERM** (INT32) |Circuit breaker for flight termination
Comment: Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.
Reboot required: true
| \[0, 121212] | 121212 | | | **CBRK\_IO\_SAFETY** (INT32) |Circuit breaker for IO safety
Comment: Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
| \[0, 22027] | 22027 | | | **CBRK\_SUPPLY\_CHK** (INT32) |Circuit breaker for power supply check
Comment: Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
| \[0, 894281] | 0 | | | **CBRK\_USB\_CHK** (INT32) |Circuit breaker for USB link check
Comment: Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R\&D purposes it has proven over the years to work just fine.
| \[0, 197848] | 197848 | | | **CBRK\_VTOLARMING** (INT32) |Circuit breaker for arming in fixed-wing mode check
Comment: Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
| \[0, 159753] | 0 | | ## Commander | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **COM\_ACT\_FAIL\_ACT** (INT32) |Set the actuator failure failsafe mode
Comment: Note: actuator failure needs to be enabled and configured via FD\_ACT\_\* parameters.
Values:
Flag to allow arming
Comment: Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.
Values:
Arm authorizer system id
Comment: Used if arm authorization is requested by COM\_ARM\_AUTH\_REQ.
| | 10 | | | **COM\_ARM\_AUTH\_MET** (INT32) |Arm authorization method
Comment: Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM\_ARM\_AUTH\_REQ.
Values:
Require arm authorization to arm
Comment: By default off. The default allows to arm the vehicle without a arm authorization.
| | Disabled (0) | | | **COM\_ARM\_AUTH\_TO** (FLOAT) |Arm authorization timeout
Comment: Timeout for authorizer answer. Used if arm authorization is requested by COM\_ARM\_AUTH\_REQ.
| (0.1) | 1 | s | | **COM\_ARM\_CHK\_ESCS** (INT32) |Enable checks on ESCs that report telemetry
Comment: If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.
| | Disabled (0) | | | **COM\_ARM\_EKF\_HGT** (FLOAT) | Maximum EKF height innovation test ratio that will allow arming | \[0.1, 1.0] (0.05) | 1.0 | | | **COM\_ARM\_EKF\_POS** (FLOAT) | Maximum EKF position innovation test ratio that will allow arming | \[0.1, 1.0] (0.05) | 0.5 | | | **COM\_ARM\_EKF\_VEL** (FLOAT) | Maximum EKF velocity innovation test ratio that will allow arming | \[0.1, 1.0] (0.05) | 0.5 | | | **COM\_ARM\_EKF\_YAW** (FLOAT) | Maximum EKF yaw innovation test ratio that will allow arming | \[0.1, 1.0] (0.05) | 0.5 | | | **COM\_ARM\_HFLT\_CHK** (INT32) |Enable FMU SD card hardfault detection check
Comment: This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.
| | Enabled (1) | | | **COM\_ARM\_IMU\_ACC** (FLOAT) | Maximum accelerometer inconsistency between IMU units that will allow arming | \[0.1, 1.0] (0.05) | 0.7 | m/s^2 | | **COM\_ARM\_IMU\_GYR** (FLOAT) | Maximum rate gyro inconsistency between IMU units that will allow arming | \[0.02, 0.3] (0.01) | 0.25 | rad/s | | **COM\_ARM\_MAG\_ANG** (INT32) |Maximum magnetic field inconsistency between units that will allow arming
Comment: Set -1 to disable the check.
| \[3, 180] | 60 | deg | | **COM\_ARM\_MAG\_STR** (INT32) |Enable mag strength preflight check
Comment: Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2\_MAG\_CHECK)
Values:
Require valid mission to arm
Comment: The default allows to arm the vehicle without a valid mission.
| | Disabled (0) | | | **COM\_ARM\_ODID** (INT32) |Enable Drone ID system detection and health check
Comment: This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.
Values:
Enable FMU SD card detection check
Comment: This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.
Values:
Arm switch is a momentary button
Comment: 0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM\_RC\_ARM\_HYST like the stick gesture.
| | Disabled (0) | | | **COM\_ARM\_WO\_GPS** (INT32) |Allow arming without GPS Values:
Maximum allowed CPU load to still arm
Comment: A negative value disables the check.
| \[-1, 100] (1) | 95.0 | % | | **COM\_DISARM\_LAND** (FLOAT) |Time-out for auto disarm after landing
Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.
| (0.1) | 2.0 | s | | **COM\_DISARM\_PRFLT** (FLOAT) |Time-out for auto disarm if not taking off
Comment: A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.
| (0.1) | 10.0 | s | | **COM\_DL\_LOSS\_T** (INT32) |GCS connection loss time threshold
Comment: After this amount of seconds without datalink, the GCS connection lost mode triggers
| \[5, 300] (1) | 10 | s | | **COM\_FAIL\_ACT\_T** (FLOAT) |Delay between failsafe condition triggered and failsafe reaction
Comment: Before entering failsafe (RTL, Land, Hold), wait COM\_FAIL\_ACT\_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature see COM\_RC\_OVERRIDE. Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).
| \[0.0, 25.0] | 5. | s | | **COM\_FLIGHT\_UUID** (INT32) |Next flight UUID
Comment: This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.
| \[0, ?] | 0 | | | **COM\_FLTMODE1** (INT32) |First flightmode slot (1000-1160)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
Second flightmode slot (1160-1320)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
Third flightmode slot (1320-1480)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
Fourth flightmode slot (1480-1640)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
Fifth flightmode slot (1640-1800)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
Sixth flightmode slot (1800-2000)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
User Flight Profile
Comment: Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).
Values:
Maximum allowed flight time
Comment: The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.
| \[-1, ?] | -1 | s | | **COM\_FORCE\_SAFETY** (INT32) |Enable force safety
Comment: Force safety when the vehicle disarms
| | Disabled (0) | | | **COM\_HLDL\_LOSS\_T** (INT32) |High Latency Datalink loss time threshold
Comment: After this amount of seconds without datalink the data link lost mode triggers
| \[60, 3600] | 120 | s | | **COM\_HLDL\_REG\_T** (INT32) |High Latency Datalink regain time threshold
Comment: After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false
| \[0, 60] | 0 | s | | **COM\_HOME\_EN** (INT32) |Home position enabled
Comment: Set home position automatically if possible.
Reboot required: true
| | Enabled (1) | | | **COM\_HOME\_IN\_AIR** (INT32) |Allows setting the home position after takeoff
Comment: If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.
| | Disabled (0) | | | **COM\_IMB\_PROP\_ACT** (INT32) |Imbalanced propeller failsafe mode
Comment: Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD\_IMB\_PROP\_THR to set the failure threshold.
Values:
Timeout for detecting a failure after takeoff
Comment: A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD\_FAIL\_P and FD\_FAIL\_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.
| \[-1.0, 5.0] | 3.0 | s | | **COM\_LOW\_BAT\_ACT** (INT32) |Battery failsafe mode
Comment: Action the system takes at critical battery. See also BAT\_CRIT\_THR and BAT\_EMERGEN\_THR for definition of battery states.
Values:
Enable Actuator Testing
Comment: If set, enables the actuator test interface via MAVLink (ACTUATOR\_TEST), that allows spinning the motors and moving the servos for testing purposes.
| | Enabled (1) | | | **COM\_OBC\_LOSS\_T** (FLOAT) | Time-out to wait when onboard computer connection is lost before warning about loss connection | \[0, 60] (0.01) | 5.0 | s | | **COM\_OBL\_RC\_ACT** (INT32) |Set offboard loss failsafe mode
Comment: The offboard loss failsafe will only be entered after a timeout, set by COM\_OF\_LOSS\_T in seconds.
Values:
Time-out to wait when offboard connection is lost before triggering offboard lost action
Comment: See COM\_OBL\_RC\_ACT to configure action.
| \[0, 60] (0.01) | 1.0 | s | | **COM\_PARACHUTE** (INT32) | Expect and require a healthy MAVLink parachute system | | Disabled (0) | | | **COM\_POSCTL\_NAVL** (INT32) |Position control navigation loss response
Comment: This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.
Values:
Loss of position failsafe activation delay
Comment: This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
| \[1, 100] | 1 | s | | **COM\_POS\_FS\_EPH** (FLOAT) |Horizontal position error threshold
Comment: This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.
| \[-1, 400] | 5. | m | | **COM\_POS\_LOW\_EPH** (FLOAT) |EPH threshold for RTL
Comment: Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers a RTL if currently in Mission or Loiter mode. Local position has to be still declared valid, which is most of all depending on COM\_POS\_FS\_EPH. Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) to improve the user notification and failure mitigation when flying in GNSS-denied areas. Set to -1 to disable.
| \[-1, 1000] | -1.0 | m | | **COM\_POWER\_COUNT** (INT32) |Required number of redundant power modules
Comment: This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK\_SUPPLY\_CHK disables all power checks including this one.
| \[0, 4] | 1 | | | **COM\_PREARM\_MODE** (INT32) |Condition to enter prearmed mode
Comment: Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.
Values:
Set command after a quadchute Values:
RC loss exceptions
Comment: Specify modes in which RC loss is ignored and the failsafe action not triggered.
Bitmask:
RC input arm/disarm command duration
Comment: The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
| \[100, 1500] | 1000 | ms | | **COM\_RC\_IN\_MODE** (INT32) |RC control input mode
Comment: A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.
Values:
RC loss time threshold
Comment: After this amount of seconds without RC connection it's considered lost and not used anymore
| \[0, 35] (0.1) | 0.5 | s | | **COM\_RC\_OVERRIDE** (INT32) |Enable RC stick override of auto and/or offboard modes
Comment: When RC stick override is enabled, moving the RC sticks more than COM\_RC\_STICK\_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
Bitmask:
RC stick override threshold
Comment: If COM\_RC\_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.
| \[5, 80] (0.05) | 30.0 | % | | **COM\_SPOOLUP\_TIME** (FLOAT) |Enforced delay between arming and further navigation
Comment: The minimal time from arming the motors until moving the vehicle is possible is COM\_SPOOLUP\_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground
| \[0, 30] (0.1) | 1.0 | s | | **COM\_TAKEOFF\_ACT** (INT32) |Action after TAKEOFF has been accepted
Comment: The mode transition after TAKEOFF has completed successfully.
Values:
Horizontal velocity error threshold
Comment: This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
| \[0, ?] | 1. | m/s | | **COM\_WIND\_MAX** (FLOAT) |Wind speed RTL threshold
Comment: Wind speed threshold above which an automatic return to launch is triggered. It is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible. Set to -1 to disable.
| \[-1, ?] (0.1) | -1. | m/s | | **COM\_WIND\_WARN** (FLOAT) |Wind speed warning threshold
Comment: A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.
| \[-1, ?] (0.1) | -1. | m/s | | **NAV\_DLL\_ACT** (INT32) |Set GCS connection loss failsafe mode
Comment: The GCS connection loss failsafe will only be entered after a timeout, set by COM\_DL\_LOSS\_T in seconds. Once the timeout occurs the selected action will be executed.
Values:
Set RC loss failsafe mode
Comment: The RC loss failsafe will only be entered after a timeout, set by COM\_RC\_LOSS\_T in seconds. If RC input checks have been disabled by setting the COM\_RC\_IN\_MODE param it will not be triggered.
Values:
UAVCAN/CAN v1 bus bitrate
Reboot required: true
| \[20000, 1000000] | 1000000 | bit/s | | **CYPHAL\_ENABLE** (INT32) |Cyphal
Comment: 0 - Cyphal disabled. 1 - Enables Cyphal
Reboot required: true
| | Enabled (1) | | | **CYPHAL\_ID** (INT32) |Cyphal Node ID
Comment: Read the specs at
Reboot required: true
| \[-1, 125] | 1 | | | **UCAN1\_ACTR\_PUB** (INT32) | actuator\_outputs uORB over Cyphal publication port ID | \[-1, 6143] | -1 | | | **UCAN1\_BMS\_BP\_SUB** (INT32) | UDRAL battery parameters subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_BMS\_BS\_SUB** (INT32) | UDRAL battery status subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_BMS\_ES\_SUB** (INT32) | UDRAL battery energy source subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_ESC0\_SUB** (INT32) | ESC 0 subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_ESC\_PUB** (INT32) | Cyphal ESC publication port ID | \[-1, 6143] | -1 | | | **UCAN1\_GPS0\_SUB** (INT32) | GPS 0 subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_GPS1\_SUB** (INT32) | GPS 1 subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_GPS\_PUB** (INT32) | Cyphal GPS publication port ID | \[-1, 6143] | -1 | | | **UCAN1\_LG\_BMS\_SUB** (INT32) | Cyphal legacy battery port ID | \[-1, 6143] | -1 | | | **UCAN1\_SERVO\_PUB** (INT32) | Cyphal Servo publication port ID | \[-1, 6143] | -1 | | | **UCAN1\_UORB\_GPS** (INT32) | sensor\_gps uORB over Cyphal subscription port ID | \[-1, 6143] | -1 | | | **UCAN1\_UORB\_GPS\_P** (INT32) | sensor\_gps uORB over Cyphal publication port ID | \[-1, 6143] | -1 | | ## DShot | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **DSHOT\_3D\_DEAD\_H** (INT32) |DSHOT 3D deadband high
Comment: When the actuator\_output is between DSHOT\_3D\_DEAD\_L and DSHOT\_3D\_DEAD\_H, motor will not spin. This value is with respect to the mixer\_module range (0-1999), not the DSHOT values.
| \[1000, 1999] | 1000 | | | **DSHOT\_3D\_DEAD\_L** (INT32) |DSHOT 3D deadband low
Comment: When the actuator\_output is between DSHOT\_3D\_DEAD\_L and DSHOT\_3D\_DEAD\_H, motor will not spin. This value is with respect to the mixer\_module range (0-1999), not the DSHOT values.
| \[0, 1000] | 1000 | | | **DSHOT\_3D\_ENABLE** (INT32) |Allows for 3d mode when using DShot and suitable mixer
Comment: WARNING: ESC must be configured for 3D mode, and DSHOT\_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
| | Disabled (0) | | | **DSHOT\_MIN** (FLOAT) |Minimum DShot Motor Output
Comment: Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.
| \[0, 1] (0.01) | 0.055 | % | | **DSHOT\_TEL\_CFG** (INT32) |Serial Configuration for DShot Driver
Comment: Configure on which serial port to run DShot Driver.
Values:
Reboot required: true
| | 0 | | | **MOT\_POLE\_COUNT** (INT32) |Number of magnetic poles of the motors
Comment: Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.
| | 14 | | ## EKF2 | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------------ | -------------- | | **EKF2\_ABIAS\_INIT** (FLOAT) |1-sigma IMU accelerometer switch-on bias
Reboot required: true
| \[0.0, 0.5] | 0.2 | m/s^2 | | **EKF2\_ABL\_ACCLIM** (FLOAT) |Maximum IMU accel magnitude that allows IMU bias learning
Comment: If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates.
| \[20.0, 200.0] | 25.0 | m/s^2 | | **EKF2\_ABL\_GYRLIM** (FLOAT) |Maximum IMU gyro angular rate magnitude that allows IMU bias learning
Comment: If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates.
| \[2.0, 20.0] | 3.0 | rad/s | | **EKF2\_ABL\_LIM** (FLOAT) |Accelerometer bias learning limit
Comment: The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value.
| \[0.0, 0.8] | 0.4 | m/s^2 | | **EKF2\_ABL\_TAU** (FLOAT) |Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning
Comment: The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.
| \[0.1, 1.0] | 0.5 | s | | **EKF2\_ACC\_B\_NOISE** (FLOAT) | Process noise for IMU accelerometer bias prediction | \[0.0, 0.01] | 3.0e-3 | m/s^3 | | **EKF2\_ACC\_NOISE** (FLOAT) | Accelerometer noise for covariance prediction | \[0.01, 1.0] | 3.5e-1 | m/s^2 | | **EKF2\_AID\_MASK** (INT32) |Will be removed after v1.14 release
Comment: Set bits in the following positions to enable: 0 : Deprecated, use EKF2\_GPS\_CTRL instead 1 : Deprecated. use EKF2\_OF\_CTRL instead 2 : Deprecated, use EKF2\_IMU\_CTRL instead 3 : Deprecated, use EKF2\_EV\_CTRL instead 4 : Deprecated, use EKF2\_EV\_CTRL instead 5 : Deprecated. use EKF2\_DRAG\_CTRL instead 6 : Deprecated, use EKF2\_EV\_CTRL instead 7 : Deprecated, use EKF2\_GPS\_CTRL instead 8 : Deprecated, use EKF2\_EV\_CTRL instead
Bitmask:
Reboot required: true
| \[0, 511] | 0 | | | **EKF2\_ANGERR\_INIT** (FLOAT) |1-sigma tilt angle uncertainty after gravity vector alignment
Reboot required: true
| \[0.0, 0.5] | 0.1 | rad | | **EKF2\_ARSP\_THR** (FLOAT) |Airspeed fusion threshold
Comment: 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.
| \[0.0, ?] | 0.0 | m/s | | **EKF2\_ASPD\_MAX** (FLOAT) | Upper limit on airspeed along individual axes used to correct baro for position error effects | \[5.0, 50.0] | 20.0 | m/s | | **EKF2\_ASP\_DELAY** (FLOAT) |Airspeed measurement delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 100 | ms | | **EKF2\_AVEL\_DELAY** (FLOAT) |Auxiliary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 5 | ms | | **EKF2\_BARO\_CTRL** (INT32) |Barometric sensor height aiding
Comment: If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).
| | Enabled (1) | | | **EKF2\_BARO\_DELAY** (FLOAT) |Barometer measurement delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 0 | ms | | **EKF2\_BARO\_GATE** (FLOAT) |Gate size for barometric and GPS height fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 5.0 | SD | | **EKF2\_BARO\_NOISE** (FLOAT) | Measurement noise for barometric altitude | \[0.01, 15.0] | 3.5 | m | | **EKF2\_BCOEF\_X** (FLOAT) |X-axis ballistic coefficient used for multi-rotor wind estimation
Comment: This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2\_DRAG\_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2\_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.
| \[0.0, 200.0] | 100.0 | kg/m^2 | | **EKF2\_BCOEF\_Y** (FLOAT) |Y-axis ballistic coefficient used for multi-rotor wind estimation
Comment: This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2\_DRAG\_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2\_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.
| \[0.0, 200.0] | 100.0 | kg/m^2 | | **EKF2\_BETA\_GATE** (FLOAT) |Gate size for synthetic sideslip fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 5.0 | SD | | **EKF2\_BETA\_NOISE** (FLOAT) | Noise for synthetic sideslip fusion | \[0.1, 1.0] | 0.3 | m/s | | **EKF2\_DECL\_TYPE** (INT32) |Integer bitmask controlling handling of magnetic declination
Comment: Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo\_lookup library when the GPS position becomes available, set to false to always use the EKF2\_MAG\_DECL value. 1 : Set to true to save the EKF2\_MAG\_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.
Bitmask:
Reboot required: true
| \[0, 7] | 7 | | | **EKF2\_DRAG\_CTRL** (INT32) |Multirotor wind estimation selection
Comment: Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2\_BCOEF\_\[XY] and EKF2\_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.
| | Disabled (0) | | | **EKF2\_DRAG\_NOISE** (FLOAT) |Specific drag force observation noise variance used by the multi-rotor specific drag force model
Comment: Increasing this makes the multi-rotor wind estimates adjust more slowly.
| \[0.5, 10.0] | 2.5 | (m/s^2)^2 | | **EKF2\_EAS\_NOISE** (FLOAT) | Measurement noise for airspeed fusion | \[0.5, 5.0] | 1.4 | m/s | | **EKF2\_EVA\_NOISE** (FLOAT) | Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message | \[0.05, ?] | 0.1 | rad | | **EKF2\_EVP\_GATE** (FLOAT) |Gate size for vision position fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 5.0 | SD | | **EKF2\_EVP\_NOISE** (FLOAT) | Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message | \[0.01, ?] | 0.1 | m | | **EKF2\_EVV\_GATE** (FLOAT) |Gate size for vision velocity estimate fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 3.0 | SD | | **EKF2\_EVV\_NOISE** (FLOAT) | Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message | \[0.01, ?] | 0.1 | m/s | | **EKF2\_EV\_CTRL** (INT32) |External vision (EV) sensor aiding
Comment: Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw
Bitmask:
Vision Position Estimator delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 0 | ms | | **EKF2\_EV\_NOISE\_MD** (INT32) |External vision (EV) noise mode
Comment: If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,
Values:
External vision (EV) minimum quality (optional)
Comment: External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.
| \[0, 100] | 0 | | | **EKF2\_FUSE\_BETA** (INT32) |Boolean determining if synthetic sideslip measurements should fused
Comment: 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.
| | Disabled (0) | | | **EKF2\_GBIAS\_INIT** (FLOAT) |1-sigma IMU gyro switch-on bias
Reboot required: true
| \[0.0, 0.2] | 0.1 | rad/s | | **EKF2\_GND\_EFF\_DZ** (FLOAT) |Baro deadzone range for height fusion
Comment: Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2\_GND\_EFF\_DZ > 0.
| \[0.0, 10.0] | 4.0 | m | | **EKF2\_GND\_MAX\_HGT** (FLOAT) |Height above ground level for ground effect zone
Comment: Sets the maximum distance to the ground level where negative baro innovations are expected.
| \[0.0, 5.0] | 0.5 | m | | **EKF2\_GPS\_CHECK** (INT32) |Integer bitmask controlling GPS checks
Comment: Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2\_REQ\_NSATS 1 : Maximum allowed PDOP set by EKF2\_REQ\_PDOP 2 : Maximum allowed horizontal position error set by EKF2\_REQ\_EPH 3 : Maximum allowed vertical position error set by EKF2\_REQ\_EPV 4 : Maximum allowed speed error set by EKF2\_REQ\_SACC 5 : Maximum allowed horizontal position rate set by EKF2\_REQ\_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2\_REQ\_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2\_REQ\_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2\_REQ\_VDRIFT
Bitmask:
GNSS sensor aiding
Comment: Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion
Bitmask:
GPS measurement delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 110 | ms | | **EKF2\_GPS\_POS\_X** (FLOAT) | X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_GPS\_POS\_Y** (FLOAT) | Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_GPS\_POS\_Z** (FLOAT) | Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_GPS\_P\_GATE** (FLOAT) |Gate size for GPS horizontal position fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 5.0 | SD | | **EKF2\_GPS\_P\_NOISE** (FLOAT) | Measurement noise for gps position | \[0.01, 10.0] | 0.5 | m | | **EKF2\_GPS\_V\_GATE** (FLOAT) |Gate size for GPS velocity fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 5.0 | SD | | **EKF2\_GPS\_V\_NOISE** (FLOAT) | Measurement noise for gps horizontal velocity | \[0.01, 5.0] | 0.3 | m/s | | **EKF2\_GRAV\_NOISE** (FLOAT) | Accelerometer measurement noise for gravity based observations | \[0.1, 10.0] | 1.0 | m/s^2 | | **EKF2\_GSF\_TAS** (FLOAT) |Default value of true airspeed used in EKF-GSF AHRS calculation
Comment: If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.
| \[0.0, 100.0] | 15.0 | m/s | | **EKF2\_GYR\_B\_LIM** (FLOAT) |Gyro bias learning limit
Comment: The ekf delta angle bias states will be limited to within a range equivalent to +- of this value.
| \[0.0, 0.4] | 0.15 | rad/s | | **EKF2\_GYR\_B\_NOISE** (FLOAT) | Process noise for IMU rate gyro bias prediction | \[0.0, 0.01] | 1.0e-3 | rad/s^2 | | **EKF2\_GYR\_NOISE** (FLOAT) | Rate gyro noise for covariance prediction | \[0.0001, 0.1] | 1.5e-2 | rad/s | | **EKF2\_HDG\_GATE** (FLOAT) |Gate size for heading fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 2.6 | SD | | **EKF2\_HEAD\_NOISE** (FLOAT) | Measurement noise for magnetic heading fusion | \[0.01, 1.0] | 0.3 | rad | | **EKF2\_HGT\_REF** (INT32) |Determines the reference source of height data used by the EKF
Comment: When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
Values:
Reboot required: true
| | 1 | | | **EKF2\_IMU\_CTRL** (INT32) |IMU control Bitmask:
Horizontal acceleration threshold used by automatic selection of magnetometer fusion method
Comment: This parameter is used when the magnetometer fusion method is set automatically (EKF2\_MAG\_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
| \[0.0, 5.0] | 0.5 | m/s^2 | | **EKF2\_MAG\_B\_NOISE** (FLOAT) | Process noise for body magnetic field prediction | \[0.0, 0.1] | 1.0e-4 | gauss/s | | **EKF2\_MAG\_CHECK** (INT32) |Magnetic field strength test selection
Comment: Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2\_MAG\_CHK\_STR 1 : Magnetic field inclination. Set tolerance using EKF2\_MAG\_CHK\_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM
Bitmask:
Magnetic field inclination check tolerance
Comment: Maximum allowed deviation from the expected magnetic field inclination to pass the check.
| \[0.0, 90.0] | 20. | deg | | **EKF2\_MAG\_CHK\_STR** (FLOAT) |Magnetic field strength check tolerance
Comment: Maximum allowed deviation from the expected magnetic field strength to pass the check.
| \[0.0, 1.0] | 0.2 | gauss | | **EKF2\_MAG\_DECL** (FLOAT) | Magnetic declination | | 0 | deg | | **EKF2\_MAG\_DELAY** (FLOAT) |Magnetometer measurement delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 0 | ms | | **EKF2\_MAG\_E\_NOISE** (FLOAT) | Process noise for earth magnetic field prediction | \[0.0, 0.1] | 1.0e-3 | gauss/s | | **EKF2\_MAG\_GATE** (FLOAT) |Gate size for magnetometer XYZ component fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 3.0 | SD | | **EKF2\_MAG\_NOISE** (FLOAT) | Measurement noise for magnetometer 3-axis fusion | \[0.001, 1.0] | 5.0e-2 | gauss | | **EKF2\_MAG\_TYPE** (INT32) |Type of magnetometer fusion
Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality).
Values:
Reboot required: true
| | 0 | | | **EKF2\_MAG\_YAWLIM** (FLOAT) |Yaw rate threshold used by automatic selection of magnetometer fusion method
Comment: This parameter is used when the magnetometer fusion method is set automatically (EKF2\_MAG\_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
| \[0.0, 1.0] | 0.20 | rad/s | | **EKF2\_MCOEF** (FLOAT) |Propeller momentum drag coefficient used for multi-rotor wind estimation
Comment: This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2\_DRAG\_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2\_BCOEF\_X and EKF2\_BCOEF\_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.
| \[0, 1.0] | 0.15 | 1/s | | **EKF2\_MIN\_RNG** (FLOAT) |Expected range finder reading when on ground
Comment: If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2\_MIN\_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.
| \[0.01, ?] | 0.1 | m | | **EKF2\_MULTI\_IMU** (INT32) |Multi-EKF IMUs
Comment: Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS\_IMU\_MODE 0.
Reboot required: true
| \[0, 4] | 0 | | | **EKF2\_MULTI\_MAG** (INT32) |Multi-EKF Magnetometers
Comment: Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS\_MAG\_MODE 0.
Reboot required: true
| \[0, 4] | 0 | | | **EKF2\_NOAID\_NOISE** (FLOAT) | Measurement noise for non-aiding position hold | \[0.5, 50.0] | 10.0 | m | | **EKF2\_NOAID\_TOUT** (INT32) | Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid | \[500000, 10000000] | 5000000 | us | | **EKF2\_OF\_CTRL** (INT32) |Optical flow aiding
Comment: Enable optical flow fusion.
| | Disabled (0) | | | **EKF2\_OF\_DELAY** (FLOAT) |Optical flow measurement delay relative to IMU measurements
Comment: Assumes measurement is timestamped at trailing edge of integration period
Reboot required: true
| \[0, 300] | 20 | ms | | **EKF2\_OF\_GATE** (FLOAT) |Gate size for optical flow fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 3.0 | SD | | **EKF2\_OF\_N\_MAX** (FLOAT) |Measurement noise for the optical flow sensor
Comment: (when it's reported quality metric is at the minimum set by EKF2\_OF\_QMIN). The following condition must be met: EKF2\_OF\_N\_MAXN >= EKF2\_OF\_N\_MIN
| \[0.05, ?] | 0.5 | rad/s | | **EKF2\_OF\_N\_MIN** (FLOAT) | Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum | \[0.05, ?] | 0.15 | rad/s | | **EKF2\_OF\_POS\_X** (FLOAT) | X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_OF\_POS\_Y** (FLOAT) | Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_OF\_POS\_Z** (FLOAT) | Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_OF\_QMIN** (INT32) | Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2\_OF\_QMIN | \[0, 255] | 1 | | | **EKF2\_OF\_QMIN\_GND** (INT32) | Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2\_OF\_QMIN\_GND | \[0, 255] | 0 | | | **EKF2\_PCOEF\_XN** (FLOAT) |Static pressure position error coefficient for the negative X axis
Comment: This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number.
| \[-0.5, 0.5] | 0.0 | | | **EKF2\_PCOEF\_XP** (FLOAT) |Static pressure position error coefficient for the positive X axis
Comment: This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forward flight, then this will be a negative number.
| \[-0.5, 0.5] | 0.0 | | | **EKF2\_PCOEF\_YN** (FLOAT) |Pressure position error coefficient for the negative Y axis
Comment: This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.
| \[-0.5, 0.5] | 0.0 | | | **EKF2\_PCOEF\_YP** (FLOAT) |Pressure position error coefficient for the positive Y axis
Comment: This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.
| \[-0.5, 0.5] | 0.0 | | | **EKF2\_PCOEF\_Z** (FLOAT) |Static pressure position error coefficient for the Z axis
Comment: This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.
| \[-0.5, 0.5] | 0.0 | | | **EKF2\_PREDICT\_US** (INT32) |EKF prediction period
Comment: EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.
| \[1000, 20000] | 10000 | us | | **EKF2\_REQ\_EPH** (FLOAT) | Required EPH to use GPS | \[2, 100] | 3.0 | m | | **EKF2\_REQ\_EPV** (FLOAT) | Required EPV to use GPS | \[2, 100] | 5.0 | m | | **EKF2\_REQ\_GPS\_H** (FLOAT) |Required GPS health time on startup
Comment: Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.
Reboot required: true
| \[0.1, ?] | 10.0 | s | | **EKF2\_REQ\_HDRIFT** (FLOAT) | Maximum horizontal drift speed to use GPS | \[0.1, 1.0] | 0.1 | m/s | | **EKF2\_REQ\_NSATS** (INT32) | Required satellite count to use GPS | \[4, 12] | 6 | | | **EKF2\_REQ\_PDOP** (FLOAT) | Maximum PDOP to use GPS | \[1.5, 5.0] | 2.5 | | | **EKF2\_REQ\_SACC** (FLOAT) | Required speed accuracy to use GPS | \[0.5, 5.0] | 0.5 | m/s | | **EKF2\_REQ\_VDRIFT** (FLOAT) | Maximum vertical drift speed to use GPS | \[0.1, 1.5] | 0.2 | m/s | | **EKF2\_RNG\_A\_HMAX** (FLOAT) |Maximum absolute altitude (height above ground level) allowed for conditional range aid mode
Comment: If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2\_RNG\_CTRL = 1).
| \[1.0, 10.0] | 5.0 | m | | **EKF2\_RNG\_A\_IGATE** (FLOAT) |Gate size used for innovation consistency checks for range aid fusion
Comment: A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode
| \[0.1, 5.0] | 1.0 | SD | | **EKF2\_RNG\_A\_VMAX** (FLOAT) |Maximum horizontal velocity allowed for conditional range aid mode
Comment: If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2\_RNG\_CTRL = 1).
| \[0.1, 2] | 1.0 | m/s | | **EKF2\_RNG\_CTRL** (INT32) |Range sensor height aiding
Comment: WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC\_ALT\_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. To en-/disable range finder for terrain height estimation, use EKF2\_TERR\_MASK instead. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2\_RNG\_A\_VMAX) and low altitude (< EKF2\_RNG\_A\_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2\_RNG\_A\_HMAX.
Values:
Range finder measurement delay relative to IMU measurements
Reboot required: true
| \[0, 300] | 5 | ms | | **EKF2\_RNG\_GATE** (FLOAT) |Gate size for range finder fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 5.0 | SD | | **EKF2\_RNG\_K\_GATE** (FLOAT) |Gate size used for range finder kinematic consistency check
Comment: To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2\_RNG\_NOISE and EKF2\_RNG\_SFE) before tuning this gate.
| \[0.1, 5.0] | 1.0 | SD | | **EKF2\_RNG\_NOISE** (FLOAT) | Measurement noise for range finder fusion | \[0.01, ?] | 0.1 | m | | **EKF2\_RNG\_PITCH** (FLOAT) | Range sensor pitch offset | \[-0.75, 0.75] | 0.0 | rad | | **EKF2\_RNG\_POS\_X** (FLOAT) | X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_RNG\_POS\_Y** (FLOAT) | Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_RNG\_POS\_Z** (FLOAT) | Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity) | | 0.0 | m | | **EKF2\_RNG\_QLTY\_T** (FLOAT) | Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s) | \[0.1, 5] | 1.0 | s | | **EKF2\_RNG\_SFE** (FLOAT) |Range finder range dependent noise scaler
Comment: Specifies the increase in range finder noise with range.
| \[0.0, 0.2] | 0.05 | m/m | | **EKF2\_SEL\_ERR\_RED** (FLOAT) |Selector error reduce threshold
Comment: EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.
| | 0.2 | | | **EKF2\_SEL\_IMU\_ACC** (FLOAT) |Selector acceleration threshold
Comment: EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.
| | 1.0 | m/s^2 | | **EKF2\_SEL\_IMU\_ANG** (FLOAT) |Selector angular threshold
Comment: EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.
| | 15.0 | deg | | **EKF2\_SEL\_IMU\_RAT** (FLOAT) |Selector angular rate threshold
Comment: EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.
| | 7.0 | deg/s | | **EKF2\_SEL\_IMU\_VEL** (FLOAT) |Selector angular threshold
Comment: EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.
| | 2.0 | m/s | | **EKF2\_SYNT\_MAG\_Z** (INT32) |Enable synthetic magnetometer Z component measurement
Comment: Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.
| | Disabled (0) | | | **EKF2\_TAS\_GATE** (FLOAT) |Gate size for TAS fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, ?] | 3.0 | SD | | **EKF2\_TAU\_POS** (FLOAT) | Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states | \[0.1, 1.0] | 0.25 | s | | **EKF2\_TAU\_VEL** (FLOAT) | Time constant of the velocity output prediction and smoothing filter | \[?, 1.0] | 0.25 | s | | **EKF2\_TERR\_GRAD** (FLOAT) | Magnitude of terrain gradient | \[0.0, ?] | 0.5 | m/m | | **EKF2\_TERR\_MASK** (INT32) |Integer bitmask controlling fusion sources of the terrain estimator
Comment: Set bits in the following positions to enable: 0 : Set to true to use range finder data if available 1 : Set to true to use optical flow data if available
Bitmask:
Process noise spectral density for wind velocity prediction
Comment: When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
| \[0.0, 1.0] | 1.0e-2 | m/s^2/sqrt(Hz) | ## ESC | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------ | ------------------------------- | ------------------- | ------- | ----- | | **ESC\_BL\_VER** (INT32) | Required esc bootloader version | \[0, 65535] | 0 | | | **ESC\_FW\_VER** (INT32) | Required esc firmware version | \[0, 65535] | 0 | | | **ESC\_HW\_VER** (INT32) | Required esc hardware version | \[0, 65535] | 0 | | ## Events | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **EV\_TSK\_RC\_LOSS** (INT32) |RC Loss Alarm
Comment: Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.
Reboot required: true
| | Disabled (0) | | | **EV\_TSK\_STAT\_DIS** (INT32) |Status Display
Comment: Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -
Reboot required: true
| | Disabled (0) | | ## FW Attitude Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------- | ------------ | ------- | | **FW\_MAN\_P\_MAX** (FLOAT) |Maximum manual pitch angle
Comment: Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
| \[0.0, 90.0] (0.5) | 30.0 | deg | | **FW\_MAN\_R\_MAX** (FLOAT) |Maximum manual roll angle
Comment: Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode
| \[0.0, 90.0] (0.5) | 45.0 | deg | | **FW\_MAN\_YR\_MAX** (FLOAT) |Maximum manually added yaw rate
Comment: 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.
| \[0, ?] (0.5) | 30. | deg/s | | **FW\_PSP\_OFF** (FLOAT) |Pitch setpoint offset (pitch at level flight)
Comment: An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.
| \[-90.0, 90.0] (0.5) | 0.0 | deg | | **FW\_P\_RMAX\_NEG** (FLOAT) | Maximum negative / down pitch rate setpoint | \[0.0, 180] (0.5) | 60.0 | deg/s | | **FW\_P\_RMAX\_POS** (FLOAT) | Maximum positive / up pitch rate setpoint | \[0.0, 180] (0.5) | 60.0 | deg/s | | **FW\_P\_TC** (FLOAT) |Attitude pitch time constant
Comment: 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.
| \[0.2, 1.0] (0.05) | 0.4 | s | | **FW\_R\_RMAX** (FLOAT) | Maximum roll rate setpoint | \[0.0, 180] (0.5) | 70.0 | deg/s | | **FW\_R\_TC** (FLOAT) |Attitude Roll Time Constant
Comment: 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.
| \[0.2, 1.0] (0.05) | 0.4 | s | | **FW\_SPOILERS\_DESC** (FLOAT) | Spoiler descend setting | \[0.0, 1.0] (0.01) | 0. | norm | | **FW\_SPOILERS\_LND** (FLOAT) | Spoiler landing setting | \[0.0, 1.0] (0.01) | 0. | norm | | **FW\_WR\_FF** (FLOAT) |Wheel steering rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output
| \[0.0, 10] (0.05) | 0.2 | %/rad/s | | **FW\_WR\_I** (FLOAT) |Wheel steering rate integrator gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| \[0.0, 10] (0.005) | 0.1 | %/rad | | **FW\_WR\_IMAX** (FLOAT) |Wheel steering rate integrator limit
Comment: The portion of the integrator part in the control surface deflection is limited to this value
| \[0.0, 1.0] (0.05) | 0.4 | | | **FW\_WR\_P** (FLOAT) |Wheel steering rate proportional gain
Comment: This defines how much the wheel steering input will be commanded depending on the current body angular rate error.
| \[0.0, 10] (0.005) | 0.5 | %/rad/s | | **FW\_W\_EN** (INT32) |Enable wheel steering controller
Comment: Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.
| | Disabled (0) | | | **FW\_W\_RMAX** (FLOAT) |Maximum wheel steering rate
Comment: This limits the maximum wheel steering rate the controller will output (in degrees per second).
| \[0.0, 90.0] (0.5) | 30.0 | deg/s | | **FW\_Y\_RMAX** (FLOAT) | Maximum yaw rate setpoint | \[0.0, 180] (0.5) | 50.0 | deg/s | ## FW Auto Landing | Name | Description | \[Min, Max] (Incr.) | Default | Units | | | | ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------------------------------ | --------------- | --- | - | | **FW\_LND\_ABORT** (INT32) |Bit mask to set the automatic landing abort conditions
Comment: Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW\_LND\_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)
Bitmask:
Landing airspeed
Comment: The calibrated airspeed setpoint during landing. If set <= 0.0, landing airspeed = FW\_AIRSPD\_MIN by default.
| \[-1.0, ?] (0.1) | -1. | m/s | | | | **FW\_LND\_ANG** (FLOAT) |Maximum landing slope angle
Comment: Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.
| \[1.0, 15.0] (0.5) | 5.0 | deg | | | | **FW\_LND\_EARLYCFG** (INT32) |Early landing configuration deployment
Comment: 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.
| | Disabled (0) | | | | | **FW\_LND\_FLALT** (FLOAT) |Landing flare altitude (relative to landing altitude)
Comment: NOTE: max(FW\_LND\_FLALT, FW\_LND\_FL\_TIME \* | z-velocity | ) is taken as the flare altitude
| \[0.0, ?] (0.5) | 0.5 | m | | **FW\_LND\_FL\_PMAX** (FLOAT) |Flare, maximum pitch
Comment: Maximum pitch during flare, a positive sign means nose up Applied once flaring is triggered
| \[0, 45.0] (0.5) | 15.0 | deg | | | | **FW\_LND\_FL\_PMIN** (FLOAT) |Flare, minimum pitch
Comment: Minimum pitch during flare, a positive sign means nose up Applied once flaring is triggered
| \[-5, 15.0] (0.5) | 2.5 | deg | | | | **FW\_LND\_FL\_SINK** (FLOAT) |Landing flare sink rate
Comment: TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)
| \[0.0, 2] (0.1) | 0.25 | m/s | | | | **FW\_LND\_FL\_TIME** (FLOAT) |Landing flare time
Comment: Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW\_LND\_FLALT, FW\_LND\_FL\_TIME \* descent rate) is taken as the flare altitude
| \[0.1, 5.0] (0.1) | 1.0 | s | | | | **FW\_LND\_NUDGE** (INT32) |Landing touchdown nudging option
Comment: Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nuding is done with yaw stick, constrained to FW\_LND\_TD\_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
Values:
Landing touchdown time (since flare start)
Comment: This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO\_PSP. If enabled, ensure that RWTO\_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW\_LND\_FL\_TIME).
| \[-1.0, 5.0] (0.1) | -1.0 | s | | | | **FW\_LND\_THRTC\_SC** (FLOAT) |Altitude time constant factor for landing
Comment: Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight. During landing, the TECS altitude time constant (FW\_T\_ALT\_TC) is multiplied by this value.
| \[0.2, 1.0] (0.1) | 1.0 | | | | | **FW\_LND\_USETER** (INT32) |Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible
Comment: NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW\_LND\_ABORT. If disabled, FW\_LND\_ABORT terrain based criteria are ignored.
Values:
Height (AGL) of the wings when the aircraft is on the ground
Comment: This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)
| \[0.0, ?] (1) | 0.5 | m | | **FW\_WING\_SPAN** (FLOAT) |The aircraft's wing span (length from tip to tip)
Comment: This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
| \[0.1, ?] (0.1) | 3.0 | m | ## FW Launch detection | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------------ | ----- | | **FW\_LAUN\_AC\_T** (FLOAT) |Trigger time
Comment: Launch is detected when acceleration in body forward direction is above FW\_LAUN\_AC\_THLD for FW\_LAUN\_AC\_T seconds.
| \[0.0, 5.0] (0.05) | 0.05 | s | | **FW\_LAUN\_AC\_THLD** (FLOAT) |Trigger acceleration threshold
Comment: Launch is detected when acceleration in body forward direction is above FW\_LAUN\_AC\_THLD for FW\_LAUN\_AC\_T seconds.
| \[0, ?] (0.5) | 30.0 | m/s^2 | | **FW\_LAUN\_DETCN\_ON** (INT32) |FW Launch detection
Comment: 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.
| | Disabled (0) | | | **FW\_LAUN\_MOT\_DEL** (FLOAT) |Motor delay
Comment: Start the motor(s) this amount of seconds after launch is detected.
| \[0.0, 10.0] (0.5) | 0.0 | s | ## FW NPFG Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------- | ----------- | ----- | | **NPFG\_DAMPING** (FLOAT) |NPFG damping ratio
Comment: Damping ratio of the NPFG control law.
| \[0.10, 1.00] (0.01) | 0.7 | | | **NPFG\_EN\_MIN\_GSP** (INT32) | Enable minimum forward ground speed maintaining excess wind handling logic | | Enabled (1) | | | **NPFG\_GSP\_MAX\_TK** (FLOAT) |Maximum, minimum forward ground speed for track keeping in excess wind
Comment: The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.
| \[0.0, 10.0] (0.5) | 5.0 | m/s | | **NPFG\_LB\_PERIOD** (INT32) |Enable automatic lower bound on the NPFG period
Comment: Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG\_PERIOD\_UB.
| | Enabled (1) | | | **NPFG\_PERIOD** (FLOAT) |NPFG period
Comment: Period of the NPFG control law.
| \[1.0, 100.0] (0.1) | 10.0 | s | | **NPFG\_PERIOD\_SF** (FLOAT) |Period safety factor
Comment: Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.
| \[1.0, 10.0] (0.1) | 1.5 | | | **NPFG\_ROLL\_TC** (FLOAT) |Roll time constant
Comment: Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.
| \[0.00, 2.00] (0.05) | 0.5 | s | | **NPFG\_SW\_DST\_MLT** (FLOAT) |NPFG switch distance multiplier
Comment: Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.
| \[0.1, 1.0] (0.01) | 0.32 | | | **NPFG\_TRACK\_KEEP** (INT32) | Enable track keeping excess wind handling logic | | Enabled (1) | | | **NPFG\_UB\_PERIOD** (INT32) |Enable automatic upper bound on the NPFG period
Comment: Adapts period to maintain track keeping in variable winds and path curvature.
| | Enabled (1) | | | **NPFG\_WIND\_REG** (INT32) |Enable wind excess regulation
Comment: Disabling this parameter further disables all other airspeed incrementation options.
| | Enabled (1) | | ## FW Path Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | -------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **FW\_PN\_R\_SLEW\_MAX** (FLOAT) |Path navigation roll slew rate limit
Comment: The maximum change in roll angle setpoint per second.
| \[0, ?] (1) | 90.0 | deg/s | | **FW\_POS\_STK\_CONF** (INT32) |RC stick configuration fixed-wing
Comment: Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.
Bitmask:
Maximum roll angle
Comment: The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.
| \[35.0, 65.0] (0.5) | 50.0 | deg | | **FW\_TKO\_PITCH\_MIN** (FLOAT) | Minimum pitch during takeoff | \[-5.0, 30.0] (0.5) | 10.0 | deg | ## FW Rate Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | -------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ------- | | **FW\_ACRO\_X\_MAX** (FLOAT) |Acro body x max rate
Comment: This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.
| \[10, 720] | 90 | deg | | **FW\_ACRO\_YAW\_EN** (INT32) |Enable yaw rate controller in Acro
Comment: If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.
| | Disabled (0) | | | **FW\_ACRO\_Y\_MAX** (FLOAT) | Acro body pitch max rate setpoint | \[10, 720] | 90 | deg | | **FW\_ACRO\_Z\_MAX** (FLOAT) | Acro body yaw max rate setpoint | \[10, 720] | 45 | deg | | **FW\_ARSP\_MODE** (INT32) |Airspeed mode
Comment: On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading
Values:
Enable airspeed scaling
Comment: This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW\_AIRSPD\_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)
| | Enabled (1) | | | **FW\_BAT\_SCALE\_EN** (INT32) |Enable throttle scale by battery level
Comment: This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.
| | Disabled (0) | | | **FW\_DTRIM\_P\_VMAX** (FLOAT) |Pitch trim increment at maximum airspeed
Comment: This increment is added to TRIM\_PITCH when airspeed is FW\_AIRSPD\_MAX.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **FW\_DTRIM\_P\_VMIN** (FLOAT) |Pitch trim increment at minimum airspeed
Comment: This increment is added to TRIM\_PITCH when airspeed is FW\_AIRSPD\_MIN.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **FW\_DTRIM\_R\_VMAX** (FLOAT) |Roll trim increment at maximum airspeed
Comment: This increment is added to TRIM\_ROLL when airspeed is FW\_AIRSPD\_MAX.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **FW\_DTRIM\_R\_VMIN** (FLOAT) |Roll trim increment at minimum airspeed
Comment: This increment is added to TRIM\_ROLL when airspeed is FW\_AIRSPD\_MIN.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **FW\_DTRIM\_Y\_VMAX** (FLOAT) |Yaw trim increment at maximum airspeed
Comment: This increment is added to TRIM\_YAW when airspeed is FW\_AIRSPD\_MAX.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **FW\_DTRIM\_Y\_VMIN** (FLOAT) |Yaw trim increment at minimum airspeed
Comment: This increment is added to TRIM\_YAW when airspeed is FW\_AIRSPD\_MIN.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **FW\_FLAPS\_LND\_SCL** (FLOAT) |Flaps setting during landing
Comment: Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.
| \[0.0, 1.0] (0.01) | 1.0 | norm | | **FW\_FLAPS\_TO\_SCL** (FLOAT) |Flaps setting during take-off
Comment: Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.
| \[0.0, 1.0] (0.01) | 0.0 | norm | | **FW\_MAN\_P\_SC** (FLOAT) |Manual pitch scale
Comment: Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
| \[0.0, ?] (0.01) | 1.0 | norm | | **FW\_MAN\_R\_SC** (FLOAT) |Manual roll scale
Comment: Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
| \[0.0, 1.0] (0.01) | 1.0 | norm | | **FW\_MAN\_Y\_SC** (FLOAT) |Manual yaw scale
Comment: Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
| \[0.0, ?] (0.01) | 1.0 | norm | | **FW\_PR\_D** (FLOAT) |Pitch rate derivative gain
Comment: Pitch rate differential gain.
| \[0.0, 10] (0.005) | 0. | %/rad/s | | **FW\_PR\_FF** (FLOAT) |Pitch rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output
| \[0.0, 10.0] (0.05) | 0.5 | %/rad/s | | **FW\_PR\_I** (FLOAT) |Pitch rate integrator gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| \[0.0, 10] (0.005) | 0.1 | %/rad | | **FW\_PR\_IMAX** (FLOAT) |Pitch rate integrator limit
Comment: The portion of the integrator part in the control surface deflection is limited to this value
| \[0.0, 1.0] (0.05) | 0.4 | | | **FW\_PR\_P** (FLOAT) | Pitch rate proportional gain | \[0.0, 10] (0.005) | 0.08 | %/rad/s | | **FW\_RLL\_TO\_YAW\_FF** (FLOAT) |Roll control to yaw control feedforward gain
Comment: This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.
| \[0.0, ?] (0.01) | 0.0 | | | **FW\_RR\_D** (FLOAT) |Roll rate derivative Gain
Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| \[0.0, 10] (0.005) | 0.00 | %/rad/s | | **FW\_RR\_FF** (FLOAT) |Roll rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.
| \[0.0, 10.0] (0.05) | 0.5 | %/rad/s | | **FW\_RR\_I** (FLOAT) |Roll rate integrator Gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| \[0.0, 10] (0.01) | 0.1 | %/rad | | **FW\_RR\_IMAX** (FLOAT) |Roll integrator anti-windup
Comment: The portion of the integrator part in the control surface deflection is limited to this value.
| \[0.0, 1.0] (0.05) | 0.2 | | | **FW\_RR\_P** (FLOAT) | Roll rate proportional Gain | \[0.0, 10] (0.005) | 0.05 | %/rad/s | | **FW\_SPOILERS\_MAN** (INT32) |Spoiler input in manual flight
Comment: Chose source for manual setting of spoilers in manual flight modes.
Values:
Yaw rate derivative gain
Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| \[0.0, 10] (0.005) | 0.0 | %/rad/s | | **FW\_YR\_FF** (FLOAT) |Yaw rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output
| \[0.0, 10.0] (0.05) | 0.3 | %/rad/s | | **FW\_YR\_I** (FLOAT) |Yaw rate integrator gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| \[0.0, 10] (0.5) | 0.1 | %/rad | | **FW\_YR\_IMAX** (FLOAT) |Yaw rate integrator limit
Comment: The portion of the integrator part in the control surface deflection is limited to this value
| \[0.0, 1.0] (0.05) | 0.2 | | | **FW\_YR\_P** (FLOAT) | Yaw rate proportional gain | \[0.0, 10] (0.005) | 0.05 | %/rad/s | ## FW TECS | Name | Description | \[Min, Max] (Incr.) | Default | Units | | -------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **FW\_AIRSPD\_MAX** (FLOAT) |Maximum Airspeed (CAS)
Comment: The maximal airspeed (calibrated airspeed) the user is able to command.
| \[0.5, ?] (0.5) | 20.0 | m/s | | **FW\_AIRSPD\_MIN** (FLOAT) |Minimum Airspeed (CAS)
Comment: 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).
| \[0.5, ?] (0.5) | 10.0 | m/s | | **FW\_AIRSPD\_STALL** (FLOAT) |Stall Airspeed (CAS)
Comment: The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.
| \[0.5, ?] (0.5) | 7.0 | m/s | | **FW\_AIRSPD\_TRIM** (FLOAT) |Trim (Cruise) Airspeed
Comment: The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve.
| \[0.5, ?] (0.5) | 15.0 | m/s | | **FW\_GND\_SPD\_MIN** (FLOAT) |Minimum groundspeed
Comment: The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.
| \[0.0, 40] (0.5) | 5.0 | m/s | | **FW\_P\_LIM\_MAX** (FLOAT) |Maximum pitch angle
Comment: The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.
| \[0.0, 60.0] (0.5) | 30.0 | deg | | **FW\_P\_LIM\_MIN** (FLOAT) |Minimum pitch angle
Comment: The minimum pitch angle setpoint for a height-rate or altitude controlled mode.
| \[-60.0, 0.0] (0.5) | -30.0 | deg | | **FW\_THR\_ASPD\_MAX** (FLOAT) |Throttle at max airspeed
Comment: Required throttle for level flight at maximum airspeed FW\_AIRSPD\_MAX (sea level, standard atmosphere) Set to 0 to disable mapping of airspeed to trim throttle.
| \[0, 1] (0.01) | 0. | | | **FW\_THR\_ASPD\_MIN** (FLOAT) |Throttle at min airspeed
Comment: Required throttle for level flight at minimum airspeed FW\_AIRSPD\_MIN (sea level, standard atmosphere) Set to 0 to disable mapping of airspeed to trim throttle below FW\_AIRSPD\_TRIM.
| \[0, 1] (0.01) | 0. | | | **FW\_THR\_IDLE** (FLOAT) |Idle throttle
Comment: This is the minimum throttle while on the ground For aircraft with internal combustion engines, this parameter should be set above the desired idle rpm. For electric motors, idle should typically be set to zero. Note that in automatic modes, "landed" conditions will engage idle throttle.
| \[0.0, 0.4] (0.01) | 0.0 | norm | | **FW\_THR\_MAX** (FLOAT) |Throttle limit max
Comment: 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.
| \[0.0, 1.0] (0.01) | 1.0 | norm | | **FW\_THR\_MIN** (FLOAT) |Throttle limit min
Comment: 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.
| \[0.0, 1.0] (0.01) | 0.0 | norm | | **FW\_THR\_SLEW\_MAX** (FLOAT) |Throttle max slew rate
Comment: Maximum slew rate for the commanded throttle
| \[0.0, 1.0] (0.01) | 0.0 | | | **FW\_THR\_TRIM** (FLOAT) |Trim throttle
Comment: This is the throttle setting required to achieve FW\_AIRSPD\_TRIM during level flight.
| \[0.0, 1.0] (0.01) | 0.6 | norm | | **FW\_TKO\_AIRSPD** (FLOAT) |Takeoff Airspeed
Comment: The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. If set <= 0.0, FW\_AIRSPD\_MIN will be set by default.
| \[-1.0, ?] (0.1) | -1.0 | m/s | | **FW\_T\_ALT\_TC** (FLOAT) | Altitude error time constant | \[2.0, ?] (0.5) | 5.0 | | | **FW\_T\_CLMB\_MAX** (FLOAT) |Maximum climb rate
Comment: This is the maximum climb rate that the aircraft can achieve with the throttle set to THR\_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.
| \[1.0, 15.0] (0.5) | 5.0 | m/s | | **FW\_T\_CLMB\_R\_SP** (FLOAT) |Default target climbrate
Comment: The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
| \[0.5, 15] (0.01) | 3.0 | m/s | | **FW\_T\_HRATE\_FF** (FLOAT) | Height rate feed forward | \[0.0, 1.0] (0.05) | 0.3 | | | **FW\_T\_I\_GAIN\_PIT** (FLOAT) |Integrator gain pitch
Comment: This is the integrator gain on the pitch part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
| \[0.0, 2.0] (0.05) | 0.1 | | | **FW\_T\_I\_GAIN\_THR** (FLOAT) |Integrator gain throttle
Comment: This is the integrator gain on the throttle part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
| \[0.0, 2.0] (0.05) | 0.05 | | | **FW\_T\_PTCH\_DAMP** (FLOAT) |Pitch damping factor
Comment: This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.
| \[0.0, 2.0] (0.1) | 0.1 | | | **FW\_T\_RLL2THR** (FLOAT) |Roll -> Throttle feedforward
Comment: Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.
| \[0.0, 20.0] (0.5) | 15.0 | | | **FW\_T\_SEB\_R\_FF** (FLOAT) | Specific total energy balance rate feedforward gain | \[0.5, 3] (0.01) | 1.0 | | | **FW\_T\_SINK\_MAX** (FLOAT) |Maximum descent rate
Comment: This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.
| \[1.0, 15.0] (0.5) | 5.0 | m/s | | **FW\_T\_SINK\_MIN** (FLOAT) |Minimum descent rate
Comment: This is the sink rate of the aircraft with the throttle set to THR\_MIN and flown at the same airspeed as used to measure FW\_T\_CLMB\_MAX.
| \[1.0, 5.0] (0.5) | 2.0 | m/s | | **FW\_T\_SINK\_R\_SP** (FLOAT) |Default target sinkrate
Comment: The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.
| \[0.5, 15] (0.01) | 2.0 | m/s | | **FW\_T\_SPDWEIGHT** (FLOAT) |Speed <--> Altitude priority
Comment: This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.
| \[0.0, 2.0] (1.0) | 1.0 | | | **FW\_T\_SPD\_DEV\_STD** (FLOAT) |Airspeed rate measurement standard deviation for airspeed filter
Comment: This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.
| \[0.01, 10.0] (0.1) | 0.2 | m/s^2 | | **FW\_T\_SPD\_PRC\_STD** (FLOAT) |Process noise standard deviation for the airspeed rate in the airspeed filter
Comment: This is the process noise standard deviation in the airspeed filter filter defining the noise in the airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the drawback for delays.
| \[0.01, 10.0] (0.1) | 0.2 | m/s^2 | | **FW\_T\_SPD\_STD** (FLOAT) |Airspeed measurement standard deviation for airspeed filter
Comment: This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.
| \[0.01, 10.0] (0.1) | 0.2 | m/s | | **FW\_T\_STE\_R\_TC** (FLOAT) |Specific total energy rate first order filter time constant
Comment: This filter is applied to the specific total energy rate used for throttle damping.
| \[0.0, 2] (0.01) | 0.4 | | | **FW\_T\_TAS\_TC** (FLOAT) | True airspeed error time constant | \[2.0, ?] (0.5) | 5.0 | | | **FW\_T\_THR\_DAMP** (FLOAT) |Throttle damping factor
Comment: This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.
| \[0.0, 2.0] (0.1) | 0.1 | | | **FW\_T\_VERT\_ACC** (FLOAT) |Maximum vertical acceleration
Comment: This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.
| \[1.0, 10.0] (0.5) | 7.0 | m/s^2 | | **FW\_WIND\_ARSP\_SC** (FLOAT) |Wind-based airspeed scaling factor
Comment: 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()
| \[0, ?] (0.01) | 0. | | ## Failure Detector | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **FD\_ACT\_EN** (INT32) |Enable Actuator Failure check
Comment: If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.
Reboot required: true
| | Enabled (1) | | | **FD\_ACT\_MOT\_C2T** (FLOAT) |Motor Failure Current/Throttle Threshold
Comment: Motor failure triggers only below this current value
| \[0.0, 50.0] (1) | 2.0 | A/% | | **FD\_ACT\_MOT\_THR** (FLOAT) |Motor Failure Throttle Threshold
Comment: Motor failure triggers only above this throttle value.
| \[0.0, 1.0] (0.01) | 0.2 | norm | | **FD\_ACT\_MOT\_TOUT** (INT32) |Motor Failure Time Threshold
Comment: Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.
| \[10, 10000] (100) | 100 | ms | | **FD\_ESCS\_EN** (INT32) |Enable checks on ESCs that report their arming state
Comment: If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.
| | Enabled (1) | | | **FD\_EXT\_ATS\_EN** (INT32) |Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)
Comment: Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.
Reboot required: true
| | Disabled (0) | | | **FD\_EXT\_ATS\_TRIG** (INT32) |The PWM threshold from external automatic trigger system for engaging failsafe
Comment: External ATS is required by ASTM F3322-18.
| | 1900 | us | | **FD\_FAIL\_P** (INT32) |FailureDetector Max Pitch
Comment: Maximum pitch angle before FailureDetector triggers the attitude\_failure flag. The flag triggers flight termination (if @CBRK\_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK\_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check
| \[0, 180] | 60 | deg | | **FD\_FAIL\_P\_TTRI** (FLOAT) |Pitch failure trigger time
Comment: Seconds (decimal) that pitch has to exceed FD\_FAIL\_P before being considered as a failure.
| \[0.02, 5] | 0.3 | s | | **FD\_FAIL\_R** (INT32) |FailureDetector Max Roll
Comment: Maximum roll angle before FailureDetector triggers the attitude\_failure flag. The flag triggers flight termination (if @CBRK\_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK\_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check
| \[0, 180] | 60 | deg | | **FD\_FAIL\_R\_TTRI** (FLOAT) |Roll failure trigger time
Comment: Seconds (decimal) that roll has to exceed FD\_FAIL\_R before being considered as a failure.
| \[0.02, 5] | 0.3 | s | | **FD\_IMB\_PROP\_THR** (INT32) |Imbalanced propeller check threshold
Comment: Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.
| \[0, 1000] (1) | 30 | | ## FlightTaskOrbit | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ----------------------- | --------------------- | ------- | ----- | | **MC\_ORBIT\_RAD\_MAX** (FLOAT) | Maximum radius of orbit | \[1.0, 10000.0] (0.5) | 1000.0 | m | ## Follow target | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **FLW\_TGT\_ALT\_M** (INT32) |Altitude control mode
Comment: Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW\_TGT\_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.
Values:
Distance to follow target from
Comment: The distance in meters to follow the target at
| \[1.0, ?] | 8.0 | m | | **FLW\_TGT\_FA** (FLOAT) |Follow Angle setting in degrees
Comment: Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.
| \[-180.0, 180.0] | 180.0 | | | **FLW\_TGT\_HT** (FLOAT) |Follow target height
Comment: Following height above the target
| \[8.0, ?] | 8.0 | m | | **FLW\_TGT\_MAX\_VEL** (FLOAT) |Maximum tangential velocity setting for generating the follow orbit trajectory
Comment: This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.
| \[0.0, 20.0] | 5.0 | | | **FLW\_TGT\_RS** (FLOAT) |Responsiveness to target movement in Target Estimator
Comment: lower values increase the responsiveness to changing position, but also ignore less noise
| \[0.0, 1.0] | 0.1 | | ## GPS | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **GPS\_1\_CONFIG** (INT32) |Serial Configuration for Main GPS
Comment: Configure on which serial port to run Main GPS.
Values:
Reboot required: true
| | 201 | | | **GPS\_1\_GNSS** (INT32) |GNSS Systems for Primary GPS (integer bitmask)
Comment: This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS
Bitmask:
Reboot required: true
| \[0, 31] | 0 | | | **GPS\_1\_PROTOCOL** (INT32) |Protocol for Main GPS
Comment: Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
Values:
Reboot required: true
| \[0, 7] | 1 | | | **GPS\_2\_CONFIG** (INT32) |Serial Configuration for Secondary GPS
Comment: Configure on which serial port to run Secondary GPS.
Values:
Reboot required: true
| | 0 | | | **GPS\_2\_GNSS** (INT32) |GNSS Systems for Secondary GPS (integer bitmask)
Comment: This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS
Bitmask:
Reboot required: true
| \[0, 31] | 0 | | | **GPS\_2\_PROTOCOL** (INT32) |Protocol for Secondary GPS
Comment: Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
Values:
Reboot required: true
| \[0, 6] | 1 | | | **GPS\_DUMP\_COMM** (INT32) |Log GPS communication data
Comment: If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps\_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps\_dump and can be used for PPK.
Values:
Pitch offset for dual antenna GPS
Comment: Vertical offsets can be compensated for by adjusting the Pitch offset (Septentrio). Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
Reboot required: true
| \[-90, 90] | 0. | deg | | **GPS\_SAT\_INFO** (INT32) |Enable sat info (if available)
Comment: Enable publication of satellite info (ORB\_ID(satellite\_info)) if possible. Not available on MTK.
Reboot required: true
| | Disabled (0) | | | **GPS\_UBX\_BAUD2** (INT32) |u-blox F9P UART2 Baudrate
Comment: Select a baudrate for the F9P's UART2 port. In GPS\_UBX\_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.
Reboot required: true
| \[0, ?] | 230400 | B/s | | **GPS\_UBX\_CFG\_INTF** (INT32) |u-blox protocol configuration for interfaces Bitmask:
Reboot required: true
| \[0, 32] | 0 | | | **GPS\_UBX\_DYNMODEL** (INT32) |u-blox GPS dynamic platform model
Comment: u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.
Values:
Reboot required: true
| \[0, 9] | 7 | | | **GPS\_UBX\_MODE** (INT32) |u-blox GPS Mode
Comment: Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.
Values:
Reboot required: true
| \[0, 1] | 0 | | | **GPS\_YAW\_OFFSET** (FLOAT) |Heading/Yaw offset for dual antenna GPS
Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).
Reboot required: true
| \[0, 360] | 0. | deg | | **PPS\_CAP\_ENABLE** (INT32) |PPS Capture Enable
Comment: Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.
Reboot required: true
| | Disabled (0) | | ## Geofence | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **GF\_ACTION** (INT32) |Geofence violation action
Comment: Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.
Values:
Geofence altitude mode
Comment: Select which altitude (AMSL) source should be used for geofence calculations.
Values:
Geofence counter limit
Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
| \[-1, 10] (1) | -1 | | | **GF\_MAX\_HOR\_DIST** (FLOAT) |Max horizontal distance in meters
Comment: Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
| \[0, 10000] (1) | 0 | m | | **GF\_MAX\_VER\_DIST** (FLOAT) |Max vertical distance in meters
Comment: Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
| \[0, 10000] (1) | 0 | m | | **GF\_PREDICT** (INT32) |\[EXPERIMENTAL] Use Pre-emptive geofence triggering
Comment: WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).
| | Disabled (0) | | | **GF\_SOURCE** (INT32) |Geofence source
Comment: Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS
Values:
Airframe selection
Comment: Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.
Values:
Motor failure handling mode
Comment: This is used to specify how to handle motor failures reported by failure detector.
Values:
Collective pitch curve at position 0
Comment: Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.
| \[-1, 1] (0.1) | -0.05 | | | **CA\_HELI\_PITCH\_C1** (FLOAT) |Collective pitch curve at position 1
Comment: Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.
| \[-1, 1] (0.1) | 0.0725 | | | **CA\_HELI\_PITCH\_C2** (FLOAT) |Collective pitch curve at position 2
Comment: Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.
| \[-1, 1] (0.1) | 0.2 | | | **CA\_HELI\_PITCH\_C3** (FLOAT) |Collective pitch curve at position 3
Comment: Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.
| \[-1, 1] (0.1) | 0.325 | | | **CA\_HELI\_PITCH\_C4** (FLOAT) |Collective pitch curve at position 4
Comment: Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.
| \[-1, 1] (0.1) | 0.45 | | | **CA\_HELI\_THR\_C0** (FLOAT) |Throttle curve at position 0
Comment: Defines the output throttle at the interval position 0.
| \[0, 1] (0.1) | 1 | | | **CA\_HELI\_THR\_C1** (FLOAT) |Throttle curve at position 1
Comment: Defines the output throttle at the interval position 1.
| \[0, 1] (0.1) | 1 | | | **CA\_HELI\_THR\_C2** (FLOAT) |Throttle curve at position 2
Comment: Defines the output throttle at the interval position 2.
| \[0, 1] (0.1) | 1 | | | **CA\_HELI\_THR\_C3** (FLOAT) |Throttle curve at position 3
Comment: Defines the output throttle at the interval position 3.
| \[0, 1] (0.1) | 1 | | | **CA\_HELI\_THR\_C4** (FLOAT) |Throttle curve at position 4
Comment: Defines the output throttle at the interval position 4.
| \[0, 1] (0.1) | 1 | | | **CA\_HELI\_YAW\_CCW** (INT32) |Main rotor turns counter-clockwise
Comment: Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.
| | Disabled (0) | | | **CA\_HELI\_YAW\_CP\_O** (FLOAT) |Offset for yaw compensation based on collective pitch
Comment: This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0° collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail\_output += CA\_HELI\_YAW\_CP\_S \* abs(collective\_pitch - CA\_HELI\_YAW\_CP\_O)
| \[-2, 2] (0.1) | 0.0 | | | **CA\_HELI\_YAW\_CP\_S** (FLOAT) |Scale for yaw compensation based on collective pitch
Comment: This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail\_output += CA\_HELI\_YAW\_CP\_S \* abs(collective\_pitch - CA\_HELI\_YAW\_CP\_O)
| \[-2, 2] (0.1) | 0.0 | | | **CA\_HELI\_YAW\_TH\_S** (FLOAT) |Scale for yaw compensation based on throttle
Comment: This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail\_output += CA\_HELI\_YAW\_TH\_S \* throttle
| \[-2, 2] (0.1) | 0.0 | | | **CA\_METHOD** (INT32) |Control allocation method
Comment: Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA\_AIRFRAME).
Values:
Motor 0 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R10\_SLEW** (FLOAT) |Motor 10 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R11\_SLEW** (FLOAT) |Motor 11 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R1\_SLEW** (FLOAT) |Motor 1 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R2\_SLEW** (FLOAT) |Motor 2 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R3\_SLEW** (FLOAT) |Motor 3 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R4\_SLEW** (FLOAT) |Motor 4 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R5\_SLEW** (FLOAT) |Motor 5 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R6\_SLEW** (FLOAT) |Motor 6 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R7\_SLEW** (FLOAT) |Motor 7 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R8\_SLEW** (FLOAT) |Motor 8 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_R9\_SLEW** (FLOAT) |Motor 9 slew rate limit
Comment: Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.
| \[0, 10] (0.01) | 0.0 | | | **CA\_ROTOR0\_AX** (FLOAT) |Axis of rotor 0 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR0\_AY** (FLOAT) |Axis of rotor 0 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR0\_AZ** (FLOAT) |Axis of rotor 0 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR0\_CT** (FLOAT) |Thrust coefficient of rotor 0
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR0\_KM** (FLOAT) |Moment coefficient of rotor 0
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR0\_PX** (FLOAT) | Position of rotor 0 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR0\_PY** (FLOAT) | Position of rotor 0 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR0\_PZ** (FLOAT) | Position of rotor 0 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR0\_TILT** (INT32) |Rotor 0 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 10 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR10\_AY** (FLOAT) |Axis of rotor 10 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR10\_AZ** (FLOAT) |Axis of rotor 10 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR10\_CT** (FLOAT) |Thrust coefficient of rotor 10
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR10\_KM** (FLOAT) |Moment coefficient of rotor 10
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR10\_PX** (FLOAT) | Position of rotor 10 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR10\_PY** (FLOAT) | Position of rotor 10 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR10\_PZ** (FLOAT) | Position of rotor 10 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR10\_TILT** (INT32) |Rotor 10 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 11 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR11\_AY** (FLOAT) |Axis of rotor 11 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR11\_AZ** (FLOAT) |Axis of rotor 11 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR11\_CT** (FLOAT) |Thrust coefficient of rotor 11
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR11\_KM** (FLOAT) |Moment coefficient of rotor 11
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR11\_PX** (FLOAT) | Position of rotor 11 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR11\_PY** (FLOAT) | Position of rotor 11 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR11\_PZ** (FLOAT) | Position of rotor 11 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR11\_TILT** (INT32) |Rotor 11 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 1 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR1\_AY** (FLOAT) |Axis of rotor 1 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR1\_AZ** (FLOAT) |Axis of rotor 1 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR1\_CT** (FLOAT) |Thrust coefficient of rotor 1
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR1\_KM** (FLOAT) |Moment coefficient of rotor 1
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR1\_PX** (FLOAT) | Position of rotor 1 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR1\_PY** (FLOAT) | Position of rotor 1 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR1\_PZ** (FLOAT) | Position of rotor 1 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR1\_TILT** (INT32) |Rotor 1 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 2 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR2\_AY** (FLOAT) |Axis of rotor 2 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR2\_AZ** (FLOAT) |Axis of rotor 2 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR2\_CT** (FLOAT) |Thrust coefficient of rotor 2
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR2\_KM** (FLOAT) |Moment coefficient of rotor 2
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR2\_PX** (FLOAT) | Position of rotor 2 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR2\_PY** (FLOAT) | Position of rotor 2 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR2\_PZ** (FLOAT) | Position of rotor 2 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR2\_TILT** (INT32) |Rotor 2 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 3 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR3\_AY** (FLOAT) |Axis of rotor 3 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR3\_AZ** (FLOAT) |Axis of rotor 3 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR3\_CT** (FLOAT) |Thrust coefficient of rotor 3
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR3\_KM** (FLOAT) |Moment coefficient of rotor 3
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR3\_PX** (FLOAT) | Position of rotor 3 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR3\_PY** (FLOAT) | Position of rotor 3 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR3\_PZ** (FLOAT) | Position of rotor 3 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR3\_TILT** (INT32) |Rotor 3 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 4 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR4\_AY** (FLOAT) |Axis of rotor 4 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR4\_AZ** (FLOAT) |Axis of rotor 4 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR4\_CT** (FLOAT) |Thrust coefficient of rotor 4
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR4\_KM** (FLOAT) |Moment coefficient of rotor 4
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR4\_PX** (FLOAT) | Position of rotor 4 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR4\_PY** (FLOAT) | Position of rotor 4 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR4\_PZ** (FLOAT) | Position of rotor 4 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR4\_TILT** (INT32) |Rotor 4 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 5 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR5\_AY** (FLOAT) |Axis of rotor 5 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR5\_AZ** (FLOAT) |Axis of rotor 5 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR5\_CT** (FLOAT) |Thrust coefficient of rotor 5
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR5\_KM** (FLOAT) |Moment coefficient of rotor 5
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR5\_PX** (FLOAT) | Position of rotor 5 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR5\_PY** (FLOAT) | Position of rotor 5 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR5\_PZ** (FLOAT) | Position of rotor 5 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR5\_TILT** (INT32) |Rotor 5 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 6 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR6\_AY** (FLOAT) |Axis of rotor 6 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR6\_AZ** (FLOAT) |Axis of rotor 6 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR6\_CT** (FLOAT) |Thrust coefficient of rotor 6
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR6\_KM** (FLOAT) |Moment coefficient of rotor 6
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR6\_PX** (FLOAT) | Position of rotor 6 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR6\_PY** (FLOAT) | Position of rotor 6 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR6\_PZ** (FLOAT) | Position of rotor 6 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR6\_TILT** (INT32) |Rotor 6 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 7 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR7\_AY** (FLOAT) |Axis of rotor 7 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR7\_AZ** (FLOAT) |Axis of rotor 7 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR7\_CT** (FLOAT) |Thrust coefficient of rotor 7
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR7\_KM** (FLOAT) |Moment coefficient of rotor 7
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR7\_PX** (FLOAT) | Position of rotor 7 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR7\_PY** (FLOAT) | Position of rotor 7 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR7\_PZ** (FLOAT) | Position of rotor 7 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR7\_TILT** (INT32) |Rotor 7 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 8 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR8\_AY** (FLOAT) |Axis of rotor 8 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR8\_AZ** (FLOAT) |Axis of rotor 8 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR8\_CT** (FLOAT) |Thrust coefficient of rotor 8
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR8\_KM** (FLOAT) |Moment coefficient of rotor 8
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR8\_PX** (FLOAT) | Position of rotor 8 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR8\_PY** (FLOAT) | Position of rotor 8 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR8\_PZ** (FLOAT) | Position of rotor 8 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR8\_TILT** (INT32) |Rotor 8 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Axis of rotor 9 thrust vector, X body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR9\_AY** (FLOAT) |Axis of rotor 9 thrust vector, Y body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | 0.0 | | | **CA\_ROTOR9\_AZ** (FLOAT) |Axis of rotor 9 thrust vector, Z body axis component
Comment: Only the direction is considered (the vector is normalized).
| \[-100, 100] (0.1) | -1.0 | | | **CA\_ROTOR9\_CT** (FLOAT) |Thrust coefficient of rotor 9
Comment: The thrust coefficient if defined as Thrust = CT \* u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.
| \[0, 100] (1) | 6.5 | | | **CA\_ROTOR9\_KM** (FLOAT) |Moment coefficient of rotor 9
Comment: The moment coefficient if defined as Torque = KM \* Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
| \[-1, 1] (0.01) | 0.05 | | | **CA\_ROTOR9\_PX** (FLOAT) | Position of rotor 9 along X body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR9\_PY** (FLOAT) | Position of rotor 9 along Y body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR9\_PZ** (FLOAT) | Position of rotor 9 along Z body axis relative to center of gravity | \[-100, 100] (0.1) | 0.0 | m | | **CA\_ROTOR9\_TILT** (INT32) |Rotor 9 tilt assignment
Comment: If not set to None, this motor is tilted by the configured tilt servo.
Values:
Total number of rotors Values:
Bidirectional/Reversible motors
Comment: Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.
Bitmask:
Angle for swash plate servo 0
Comment: The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).
| \[0, 360] (10) | 0 | deg | | **CA\_SP0\_ANG1** (FLOAT) |Angle for swash plate servo 1
Comment: The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).
| \[0, 360] (10) | 140 | deg | | **CA\_SP0\_ANG2** (FLOAT) |Angle for swash plate servo 2
Comment: The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).
| \[0, 360] (10) | 220 | deg | | **CA\_SP0\_ANG3** (FLOAT) |Angle for swash plate servo 3
Comment: The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).
| \[0, 360] (10) | 0 | deg | | **CA\_SP0\_ARM\_L0** (FLOAT) |Arm length for swash plate servo 0
Comment: This is relative to the other arm lengths.
| \[0, 10] (0.1) | 1.0 | | | **CA\_SP0\_ARM\_L1** (FLOAT) |Arm length for swash plate servo 1
Comment: This is relative to the other arm lengths.
| \[0, 10] (0.1) | 1.0 | | | **CA\_SP0\_ARM\_L2** (FLOAT) |Arm length for swash plate servo 2
Comment: This is relative to the other arm lengths.
| \[0, 10] (0.1) | 1.0 | | | **CA\_SP0\_ARM\_L3** (FLOAT) |Arm length for swash plate servo 3
Comment: This is relative to the other arm lengths.
| \[0, 10] (0.1) | 1.0 | | | **CA\_SP0\_COUNT** (INT32) |Number of swash plates servos Values:
Servo 0 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV1\_SLEW** (FLOAT) |Servo 1 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV2\_SLEW** (FLOAT) |Servo 2 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV3\_SLEW** (FLOAT) |Servo 3 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV4\_SLEW** (FLOAT) |Servo 4 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV5\_SLEW** (FLOAT) |Servo 5 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV6\_SLEW** (FLOAT) |Servo 6 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV7\_SLEW** (FLOAT) |Servo 7 slew rate limit
Comment: Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0, 10] (0.05) | 0.0 | | | **CA\_SV\_CS0\_FLAP** (FLOAT) | Control Surface 0 configuration as flap | \[-1.0, 1.0] | 0 | | | **CA\_SV\_CS0\_SPOIL** (FLOAT) | Control Surface 0 configuration as spoiler | \[-1.0, 1.0] | 0 | | | **CA\_SV\_CS0\_TRIM** (FLOAT) |Control Surface 0 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS0\_TRQ\_P** (FLOAT) | Control Surface 0 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS0\_TRQ\_R** (FLOAT) | Control Surface 0 roll torque scaling | | 0.0 | | | **CA\_SV\_CS0\_TRQ\_Y** (FLOAT) | Control Surface 0 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS0\_TYPE** (INT32) |Control Surface 0 type Values:
Control Surface 1 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS1\_TRQ\_P** (FLOAT) | Control Surface 1 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS1\_TRQ\_R** (FLOAT) | Control Surface 1 roll torque scaling | | 0.0 | | | **CA\_SV\_CS1\_TRQ\_Y** (FLOAT) | Control Surface 1 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS1\_TYPE** (INT32) |Control Surface 1 type Values:
Control Surface 2 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS2\_TRQ\_P** (FLOAT) | Control Surface 2 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS2\_TRQ\_R** (FLOAT) | Control Surface 2 roll torque scaling | | 0.0 | | | **CA\_SV\_CS2\_TRQ\_Y** (FLOAT) | Control Surface 2 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS2\_TYPE** (INT32) |Control Surface 2 type Values:
Control Surface 3 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS3\_TRQ\_P** (FLOAT) | Control Surface 3 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS3\_TRQ\_R** (FLOAT) | Control Surface 3 roll torque scaling | | 0.0 | | | **CA\_SV\_CS3\_TRQ\_Y** (FLOAT) | Control Surface 3 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS3\_TYPE** (INT32) |Control Surface 3 type Values:
Control Surface 4 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS4\_TRQ\_P** (FLOAT) | Control Surface 4 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS4\_TRQ\_R** (FLOAT) | Control Surface 4 roll torque scaling | | 0.0 | | | **CA\_SV\_CS4\_TRQ\_Y** (FLOAT) | Control Surface 4 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS4\_TYPE** (INT32) |Control Surface 4 type Values:
Control Surface 5 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS5\_TRQ\_P** (FLOAT) | Control Surface 5 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS5\_TRQ\_R** (FLOAT) | Control Surface 5 roll torque scaling | | 0.0 | | | **CA\_SV\_CS5\_TRQ\_Y** (FLOAT) | Control Surface 5 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS5\_TYPE** (INT32) |Control Surface 5 type Values:
Control Surface 6 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS6\_TRQ\_P** (FLOAT) | Control Surface 6 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS6\_TRQ\_R** (FLOAT) | Control Surface 6 roll torque scaling | | 0.0 | | | **CA\_SV\_CS6\_TRQ\_Y** (FLOAT) | Control Surface 6 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS6\_TYPE** (INT32) |Control Surface 6 type Values:
Control Surface 7 trim
Comment: Can be used to add an offset to the servo control.
| \[-1.0, 1.0] | 0.0 | | | **CA\_SV\_CS7\_TRQ\_P** (FLOAT) | Control Surface 7 pitch torque scaling | | 0.0 | | | **CA\_SV\_CS7\_TRQ\_R** (FLOAT) | Control Surface 7 roll torque scaling | | 0.0 | | | **CA\_SV\_CS7\_TRQ\_Y** (FLOAT) | Control Surface 7 yaw torque scaling | | 0.0 | | | **CA\_SV\_CS7\_TYPE** (INT32) |Control Surface 7 type Values:
Total number of Control Surfaces Values:
Tilt 0 is used for control
Comment: Define if this servo is used for additional control.
Values:
Tilt Servo 0 Tilt Angle at Maximum
Comment: Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.
| \[-90.0, 90.0] | 90.0 | deg | | **CA\_SV\_TL0\_MINA** (FLOAT) |Tilt Servo 0 Tilt Angle at Minimum
Comment: Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.
| \[-90.0, 90.0] | 0.0 | deg | | **CA\_SV\_TL0\_TD** (INT32) |Tilt Servo 0 Tilt Direction
Comment: Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
Values:
Tilt 1 is used for control
Comment: Define if this servo is used for additional control.
Values:
Tilt Servo 1 Tilt Angle at Maximum
Comment: Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.
| \[-90.0, 90.0] | 90.0 | deg | | **CA\_SV\_TL1\_MINA** (FLOAT) |Tilt Servo 1 Tilt Angle at Minimum
Comment: Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.
| \[-90.0, 90.0] | 0.0 | deg | | **CA\_SV\_TL1\_TD** (INT32) |Tilt Servo 1 Tilt Direction
Comment: Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
Values:
Tilt 2 is used for control
Comment: Define if this servo is used for additional control.
Values:
Tilt Servo 2 Tilt Angle at Maximum
Comment: Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.
| \[-90.0, 90.0] | 90.0 | deg | | **CA\_SV\_TL2\_MINA** (FLOAT) |Tilt Servo 2 Tilt Angle at Minimum
Comment: Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.
| \[-90.0, 90.0] | 0.0 | deg | | **CA\_SV\_TL2\_TD** (INT32) |Tilt Servo 2 Tilt Direction
Comment: Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
Values:
Tilt 3 is used for control
Comment: Define if this servo is used for additional control.
Values:
Tilt Servo 3 Tilt Angle at Maximum
Comment: Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.
| \[-90.0, 90.0] | 90.0 | deg | | **CA\_SV\_TL3\_MINA** (FLOAT) |Tilt Servo 3 Tilt Angle at Minimum
Comment: Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.
| \[-90.0, 90.0] | 0.0 | deg | | **CA\_SV\_TL3\_TD** (INT32) |Tilt Servo 3 Tilt Direction
Comment: Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
Values:
Total number of Tilt Servos Values:
Gate size for acceleration fusion
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[1.0, 10.0] | 3.0 | SD | | **HTE\_HT\_ERR\_INIT** (FLOAT) |1-sigma initial hover thrust uncertainty
Comment: Sets the number of standard deviations used by the innovation consistency test.
| \[0.0, 1.0] | 0.1 | normalized\_thrust | | **HTE\_HT\_NOISE** (FLOAT) |Hover thrust process noise
Comment: Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.
| \[0.0001, 1.0] | 0.0036 | normalized\_thrust/s | | **HTE\_THR\_RANGE** (FLOAT) |Max deviation from MPC\_THR\_HOVER
Comment: Defines the range of the hover thrust estimate around MPC\_THR\_HOVER. A value of 0.2 with MPC\_THR\_HOVER at 0.5 results in a range of \[0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).
| \[0.01, 0.4] | 0.2 | normalized\_thrust | | **HTE\_VXY\_THR** (FLOAT) |Horizontal velocity threshold for sensitivity reduction
Comment: Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.
| \[1.0, 20.0] | 10.0 | m/s | | **HTE\_VZ\_THR** (FLOAT) |Vertical velocity threshold for sensitivity reduction
Comment: Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.
| \[1.0, 10.0] | 2.0 | m/s | ## Iridium SBD | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **ISBD\_CONFIG** (INT32) |Serial Configuration for Iridium (with MAVLink)
Comment: Configure on which serial port to run Iridium (with MAVLink).
Values:
Reboot required: true
| | 0 | | | **ISBD\_READ\_INT** (INT32) | Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call | \[0, 5000] | 0 | s | | **ISBD\_SBD\_TIMEOUT** (INT32) | Iridium SBD session timeout | \[0, 300] | 60 | s | | **ISBD\_STACK\_TIME** (INT32) |Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message
Comment: Value 0 turns the functionality off
| \[0, 500] | 0 | ms | ## Land Detector | Name | Description | \[Min, Max] (Incr.) | Default | Units | | | ------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------- | ------- | ----- | - | | **LNDFW\_AIRSPD\_MAX** (FLOAT) |Fixed-wing land detector: Max airspeed
Comment: Maximum airspeed allowed in the landed state
| \[2, 20] | 6.00 | m/s | | | **LNDFW\_TRIG\_TIME** (FLOAT) |Fixed-wing land detection trigger time
Comment: Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.
Reboot required: true
| \[0.1, ?] | 2. | s | | | **LNDFW\_VEL\_XY\_MAX** (FLOAT) |Fixed-wing land detector: Max horizontal velocity threshold
Comment: Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).
| \[0.5, 10] | 5.0 | m/s | | | **LNDFW\_VEL\_Z\_MAX** (FLOAT) |Fixed-wing land detector: Max vertiacal velocity threshold
Comment: Maximum vertical velocity allowed in the landed state.
| \[0.1, 20] | 1.0 | m/s | | | **LNDFW\_XYACC\_MAX** (FLOAT) |Fixed-wing land detector: Max horizontal acceleration
Comment: Maximum horizontal (x,y body axes) acceleration allowed in the landed state
| \[2, 15] | 8.0 | m/s^2 | | | **LNDMC\_ALT\_GND** (FLOAT) |Ground effect altitude for multicopters
Comment: The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.
| \[-1, ?] | 2. | m | | | **LNDMC\_ALT\_MAX** (FLOAT) |Maximum altitude for multicopters
Comment: The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF\_MAX\_VER\_DIST parameter. A negative value indicates no altitude limitation.
| \[-1, 10000] | -1.0 | m | | | **LNDMC\_ROT\_MAX** (FLOAT) |Multicopter max rotation
Comment: Maximum allowed angular velocity around each axis allowed in the landed state.
| | 20.0 | deg/s | | | **LNDMC\_TRIG\_TIME** (FLOAT) |Multicopter land detection trigger time
Comment: Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.
| \[0.1, 10.0] | 1.0 | s | | | **LNDMC\_XY\_VEL\_MAX** (FLOAT) |Multicopter max horizontal velocity
Comment: Maximum horizontal velocity allowed in the landed state
| | 1.5 | m/s | | | **LNDMC\_Z\_VEL\_MAX** (FLOAT) |Multicopter vertical velocity threshold
Comment: Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC\_LAND\_SPEED or MPC\_LAND\_CRWL. This is enforced by an automatic check.
| \[0, ?] | 0.25 | m/s | | | **LND\_FLIGHT\_T\_HI** (INT32) |Total flight time in microseconds
Comment: Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND\_FLIGHT\_T\_HI << 32) | LND\_FLIGHT\_T\_LO.
| \[0, ?] | 0 | | | **LND\_FLIGHT\_T\_LO** (INT32) |Total flight time in microseconds
Comment: Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND\_FLIGHT\_T\_HI << 32) | LND\_FLIGHT\_T\_LO.
| \[0, ?] | 0 | | ## Landing Target Estimator | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ---------- | | **LTEST\_ACC\_UNC** (FLOAT) |Acceleration uncertainty
Comment: Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection
| \[0.01, ?] | 10.0 | (m/s^2)^2 | | **LTEST\_MEAS\_UNC** (FLOAT) |Landing target measurement uncertainty
Comment: Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.
| | 0.005 | tan(rad)^2 | | **LTEST\_MODE** (INT32) |Landing target mode
Comment: Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w\.r.t. the landing target is used to aid velocity estimation.
Values:
Initial landing target position uncertainty
Comment: Initial variance of the relative landing target position in x and y direction
| \[0.001, ?] | 0.1 | m^2 | | **LTEST\_SCALE\_X** (FLOAT) |Scale factor for sensor measurements in sensor x axis
Comment: Landing target x measurements are scaled by this factor before being used
| \[0.01, ?] | 1.0 | | | **LTEST\_SCALE\_Y** (FLOAT) |Scale factor for sensor measurements in sensor y axis
Comment: Landing target y measurements are scaled by this factor before being used
| \[0.01, ?] | 1.0 | | | **LTEST\_SENS\_POS\_X** (FLOAT) |X Position of IRLOCK in body frame (forward)
Reboot required: true
| | 0.0 | m | | **LTEST\_SENS\_POS\_Y** (FLOAT) |Y Position of IRLOCK in body frame (right)
Reboot required: true
| | 0.0 | m | | **LTEST\_SENS\_POS\_Z** (FLOAT) |Z Position of IRLOCK in body frame (downward)
Reboot required: true
| | 0.0 | m | | **LTEST\_SENS\_ROT** (INT32) |Rotation of IRLOCK sensor relative to airframe
Comment: Default orientation of Yaw 90°
Values:
Reboot required: true
| \[-1, 40] | 2 | | | **LTEST\_VEL\_UNC\_IN** (FLOAT) |Initial landing target velocity uncertainty
Comment: Initial variance of the relative landing target velocity in x and y directions
| \[0.001, ?] | 0.1 | (m/s)^2 | ## Local Position Estimator | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | --------- | -------------- | | **LPE\_ACC\_XY** (FLOAT) |Accelerometer xy noise density
Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.
| \[0.00001, 2] | 0.012 | m/s^2/sqrt(Hz) | | **LPE\_ACC\_Z** (FLOAT) |Accelerometer z noise density
Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
| \[0.00001, 2] | 0.02 | m/s^2/sqrt(Hz) | | **LPE\_BAR\_Z** (FLOAT) | Barometric presssure altitude z standard deviation | \[0.01, 100] | 3.0 | m | | **LPE\_EPH\_MAX** (FLOAT) | Max EPH allowed for GPS initialization | \[1.0, 5.0] | 3.0 | m | | **LPE\_EPV\_MAX** (FLOAT) | Max EPV allowed for GPS initialization | \[1.0, 5.0] | 5.0 | m | | **LPE\_FAKE\_ORIGIN** (INT32) |Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)
Comment: By initializing the estimator to the LPE\_LAT/LON parameters when global information is unavailable
| \[0, 1] | 0 | | | **LPE\_FGYRO\_HP** (FLOAT) | Flow gyro high pass filter cut off frequency | \[0, 2] | 0.001 | Hz | | **LPE\_FLW\_OFF\_Z** (FLOAT) | Optical flow z offset from center | \[-1, 1] | 0.0 | m | | **LPE\_FLW\_QMIN** (INT32) | Optical flow minimum quality threshold | \[0, 255] | 150 | | | **LPE\_FLW\_R** (FLOAT) | Optical flow rotation (roll/pitch) noise gain | \[0.1, 10.0] | 7.0 | m/s/rad | | **LPE\_FLW\_RR** (FLOAT) | Optical flow angular velocity noise gain | \[0.0, 10.0] | 7.0 | m/rad | | **LPE\_FLW\_SCALE** (FLOAT) | Optical flow scale | \[0.1, 10.0] | 1.3 | m | | **LPE\_FUSION** (INT32) |Integer bitmask controlling data fusion
Comment: Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)
Bitmask:
GPS xy velocity standard deviation
Comment: EPV used if greater than this value.
| \[0.01, 2] | 0.25 | m/s | | **LPE\_GPS\_VZ** (FLOAT) | GPS z velocity standard deviation | \[0.01, 2] | 0.25 | m/s | | **LPE\_GPS\_XY** (FLOAT) | Minimum GPS xy standard deviation, uses reported EPH if greater | \[0.01, 5] | 1.0 | m | | **LPE\_GPS\_Z** (FLOAT) | Minimum GPS z standard deviation, uses reported EPV if greater | \[0.01, 200] | 3.0 | m | | **LPE\_LAND\_VXY** (FLOAT) | Land detector xy velocity standard deviation | \[0.01, 10.0] | 0.05 | m/s | | **LPE\_LAND\_Z** (FLOAT) | Land detector z standard deviation | \[0.001, 10.0] | 0.03 | m | | **LPE\_LAT** (FLOAT) | Local origin latitude for nav w/o GPS | \[-90, 90] | 47.397742 | deg | | **LPE\_LDR\_OFF\_Z** (FLOAT) | Lidar z offset from center of vehicle +down | \[-1, 1] | 0.00 | m | | **LPE\_LDR\_Z** (FLOAT) | Lidar z standard deviation | \[0.01, 1] | 0.03 | m | | **LPE\_LON** (FLOAT) | Local origin longitude for nav w/o GPS | \[-180, 180] | 8.545594 | deg | | **LPE\_LT\_COV** (FLOAT) | Minimum landing target standard covariance, uses reported covariance if greater | \[0.0, 10] | 0.0001 | m^2 | | **LPE\_PN\_B** (FLOAT) | Accel bias propagation noise density | \[0, 1] | 1e-3 | m/s^3/sqrt(Hz) | | **LPE\_PN\_P** (FLOAT) |Position propagation noise density
Comment: Increase to trust measurements more. Decrease to trust model more.
| \[0, 1] | 0.1 | m/s/sqrt(Hz) | | **LPE\_PN\_T** (FLOAT) | Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) | \[0, 1] | 0.001 | m/s/sqrt(Hz) | | **LPE\_PN\_V** (FLOAT) |Velocity propagation noise density
Comment: Increase to trust measurements more. Decrease to trust model more.
| \[0, 1] | 0.1 | m/s^2/sqrt(Hz) | | **LPE\_SNR\_OFF\_Z** (FLOAT) | Sonar z offset from center of vehicle +down | \[-1, 1] | 0.00 | m | | **LPE\_SNR\_Z** (FLOAT) | Sonar z standard deviation | \[0.01, 1] | 0.05 | m | | **LPE\_T\_MAX\_GRADE** (FLOAT) |Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
Comment: Used to calculate increased terrain random walk nosie due to movement.
| \[0, 100] | 1.0 | % | | **LPE\_VIC\_P** (FLOAT) | Vicon position standard deviation | \[0.0001, 1] | 0.001 | m | | **LPE\_VIS\_DELAY** (FLOAT) |Vision delay compensation
Comment: Set to zero to enable automatic compensation from measurement timestamps
| \[0, 0.1] | 0.1 | s | | **LPE\_VIS\_XY** (FLOAT) | Vision xy standard deviation | \[0.01, 1] | 0.1 | m | | **LPE\_VIS\_Z** (FLOAT) | Vision z standard deviation | \[0.01, 100] | 0.5 | m | | **LPE\_VXY\_PUB** (FLOAT) | Required velocity xy standard deviation to publish position | \[0.01, 1.0] | 0.3 | m/s | | **LPE\_X\_LP** (FLOAT) | Cut frequency for state publication | \[5, 1000] | 5.0 | Hz | | **LPE\_Z\_PUB** (FLOAT) | Required z standard deviation to publish altitude/ terrain | \[0.3, 5.0] | 1.0 | m | ## MAVLink | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **MAV\_0\_BROADCAST** (INT32) |Broadcast heartbeats on local network for MAVLink instance 0
Comment: This allows a ground control station to automatically find the drone on the local network.
Values:
Serial Configuration for MAVLink (instance 0)
Comment: Configure on which serial port to run MAVLink.
Values:
Reboot required: true
| | 101 | | | **MAV\_0\_FLOW\_CTRL** (INT32) |Enable serial flow control for instance 0
Comment: This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.
Values:
Reboot required: True
| | 2 | | | **MAV\_0\_FORWARD** (INT32) |Enable MAVLink Message forwarding for instance 0
Comment: If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
Reboot required: True
| | Enabled (1) | | | **MAV\_0\_MODE** (INT32) |MAVLink Mode for instance 0
Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
Values:
Reboot required: True
| | 0 | | | **MAV\_0\_RADIO\_CTL** (INT32) |Enable software throttling of mavlink on instance 0
Comment: If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio\_status. Requires a radio to send the mavlink message RADIO\_STATUS.
Reboot required: True
| | Enabled (1) | | | **MAV\_0\_RATE** (INT32) |Maximum MAVLink sending rate for instance 0
Comment: Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
Reboot required: True
| \[0, ?] | 1200 | B/s | | **MAV\_0\_REMOTE\_PRT** (INT32) |MAVLink Remote Port for instance 0
Comment: If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.
Reboot required: True
| | 14550 | | | **MAV\_0\_UDP\_PRT** (INT32) |MAVLink Network Port for instance 0
Comment: If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.
Reboot required: True
| | 14556 | | | **MAV\_1\_BROADCAST** (INT32) |Broadcast heartbeats on local network for MAVLink instance 1
Comment: This allows a ground control station to automatically find the drone on the local network.
Values:
Serial Configuration for MAVLink (instance 1)
Comment: Configure on which serial port to run MAVLink.
Values:
Reboot required: true
| | 0 | | | **MAV\_1\_FLOW\_CTRL** (INT32) |Enable serial flow control for instance 1
Comment: This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.
Values:
Reboot required: True
| | 2 | | | **MAV\_1\_FORWARD** (INT32) |Enable MAVLink Message forwarding for instance 1
Comment: If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
Reboot required: True
| | Disabled (0) | | | **MAV\_1\_MODE** (INT32) |MAVLink Mode for instance 1
Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
Values:
Reboot required: True
| | 2 | | | **MAV\_1\_RADIO\_CTL** (INT32) |Enable software throttling of mavlink on instance 1
Comment: If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio\_status. Requires a radio to send the mavlink message RADIO\_STATUS.
Reboot required: True
| | Enabled (1) | | | **MAV\_1\_RATE** (INT32) |Maximum MAVLink sending rate for instance 1
Comment: Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
Reboot required: True
| \[0, ?] | 0 | B/s | | **MAV\_1\_REMOTE\_PRT** (INT32) |MAVLink Remote Port for instance 1
Comment: If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.
Reboot required: True
| | 0 | | | **MAV\_1\_UDP\_PRT** (INT32) |MAVLink Network Port for instance 1
Comment: If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.
Reboot required: True
| | 0 | | | **MAV\_2\_BROADCAST** (INT32) |Broadcast heartbeats on local network for MAVLink instance 2
Comment: This allows a ground control station to automatically find the drone on the local network.
Values:
Serial Configuration for MAVLink (instance 2)
Comment: Configure on which serial port to run MAVLink.
Values:
Reboot required: true
| | 0 | | | **MAV\_2\_FLOW\_CTRL** (INT32) |Enable serial flow control for instance 2
Comment: This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.
Values:
Reboot required: True
| | 2 | | | **MAV\_2\_FORWARD** (INT32) |Enable MAVLink Message forwarding for instance 2
Comment: If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
Reboot required: True
| | Disabled (0) | | | **MAV\_2\_MODE** (INT32) |MAVLink Mode for instance 2
Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
Values:
Reboot required: True
| | 0 | | | **MAV\_2\_RADIO\_CTL** (INT32) |Enable software throttling of mavlink on instance 2
Comment: If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio\_status. Requires a radio to send the mavlink message RADIO\_STATUS.
Reboot required: True
| | Enabled (1) | | | **MAV\_2\_RATE** (INT32) |Maximum MAVLink sending rate for instance 2
Comment: Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
Reboot required: True
| \[0, ?] | 0 | B/s | | **MAV\_2\_REMOTE\_PRT** (INT32) |MAVLink Remote Port for instance 2
Comment: If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.
Reboot required: True
| | 0 | | | **MAV\_2\_UDP\_PRT** (INT32) |MAVLink Network Port for instance 2
Comment: If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.
Reboot required: True
| | 0 | | | **MAV\_COMP\_ID** (INT32) |MAVLink component ID
Reboot required: true
| \[1, 250] | 1 | | | **MAV\_FWDEXTSP** (INT32) |Forward external setpoint messages
Comment: If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode
| | Enabled (1) | | | **MAV\_HASH\_CHK\_EN** (INT32) |Parameter hash check
Comment: Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.
| | Enabled (1) | | | **MAV\_HB\_FORW\_EN** (INT32) |Heartbeat message forwarding
Comment: The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
| | Enabled (1) | | | **MAV\_PROTO\_VER** (INT32) |MAVLink protocol version Values:
Timeout in seconds for the RADIO\_STATUS reports coming in
Comment: If the connected radio stops reporting RADIO\_STATUS for a certain time, a warning is triggered and, if MAV\_X\_RADIO\_CTL is enabled, the software-flow control is reset.
| \[1, 250] | 5 | s | | **MAV\_SIK\_RADIO\_ID** (INT32) |MAVLink SiK Radio ID
Comment: When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio
| \[-1, 240] | 0 | | | **MAV\_SYS\_ID** (INT32) |MAVLink system ID
Reboot required: true
| \[1, 250] | 1 | | | **MAV\_TYPE** (INT32) |MAVLink airframe type Values:
Use/Accept HIL GPS message even if not in HIL mode
Comment: If set to 1 incoming HIL GPS messages are parsed.
| | Disabled (0) | | ## MODAL IO | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------- | ------- | ----- | | **MODAL\_IO\_BAUD** (INT32) |UART ESC baud rate
Comment: Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.
| | 250000 | bit/s | | **MODAL\_IO\_CONFIG** (INT32) |UART ESC configuration
Comment: Selects what type of UART ESC, if any, is being used.
Values:
Reboot required: true
| \[0, 1] | 0 | | | **MODAL\_IO\_MODE** (INT32) |UART ESC Mode
Comment: Selects what type of mode is enabled, if any
Values:
Reboot required: true
| \[0, 2] | 0 | | | **MODAL\_IO\_RPM\_MAX** (INT32) |UART ESC RPM Max
Comment: Maximum RPM for ESC
| | 15000 | rpm | | **MODAL\_IO\_RPM\_MIN** (INT32) |UART ESC RPM Min
Comment: Minimum RPM for ESC
| | 5500 | rpm | | **MODAL\_IO\_SDIR1** (INT32) |UART ESC ID 1 Spin Direction Flag Values:
UART ESC ID 2 Spin Direction Flag Values:
UART ESC ID 3 Spin Direction Flag Values:
UART ESC ID 4 Spin Direction Flag Values:
UART ESC verbose logging Values:
Reboot required: true
| \[0, 1] | 0 | | ## Magnetometer Bias Estimator | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ---------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ----------- | ----- | | **MBE\_ENABLE** (INT32) |Enable online mag bias calibration
Comment: This enables continuous calibration of the magnetometers before takeoff using gyro data.
Reboot required: true
| | Enabled (1) | | | **MBE\_LEARN\_GAIN** (FLOAT) |Mag bias estimator learning gain
Comment: Increase to make the estimator more responsive Decrease to make the estimator more robust to noise
| \[0.1, 100] (0.1) | 18. | | ## Manual Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ----------- | ----- | | **MAN\_ARM\_GESTURE** (INT32) |Enable arm/disarm stick gesture
Comment: This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.
| | Enabled (1) | | ## Mission | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------- | ----------- | ----- | | **FW\_GPSF\_LT** (INT32) |GPS failure loiter time
Comment: The time in seconds the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW\_GPSF\_R. Does only apply for fixed-wing vehicles or VTOLs with NAV\_FORCE\_VT set to 0.
| \[0, 3600] | 30 | s | | **FW\_GPSF\_R** (FLOAT) |GPS failure fixed roll angle
Comment: Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).
| \[0.0, 30.0] (0.5) | 15.0 | deg | | **MIS\_DIST\_1WP** (FLOAT) |Maximal horizontal distance from current position to first waypoint
Comment: Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS\_DIST\_1WP from the current position.
| \[-1, 10000] (100) | 900 | m | | **MIS\_LND\_ABRT\_ALT** (INT32) |Landing abort min altitude
Comment: Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.
| \[0, ?] | 30 | m | | **MIS\_MNT\_YAW\_CTL** (INT32) |Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
Comment: If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.
Values:
Default take-off altitude
Comment: This is the relative altitude the system will take off to if not otherwise specified.
| \[0, ?] (0.5) | 2.5 | m | | **MIS\_TKO\_LAND\_REQ** (INT32) |Mission takeoff/landing required
Comment: Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.
Values:
Time in seconds we wait on reaching target heading at a waypoint if it is forced
Comment: If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.
| \[-1, 20] (1) | -1.0 | s | | **MPC\_YAW\_MODE** (INT32) |Heading behavior in autonomous modes Values:
Acceptance Radius
Comment: Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.
| \[0.05, 200.0] (0.5) | 10.0 | m | | **NAV\_FORCE\_VT** (INT32) | Force VTOL mode takeoff and land | | Enabled (1) | | | **NAV\_FW\_ALTL\_RAD** (FLOAT) |FW Altitude Acceptance Radius before a landing
Comment: Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.
| \[0.05, 200.0] | 5.0 | m | | **NAV\_FW\_ALT\_RAD** (FLOAT) |FW Altitude Acceptance Radius
Comment: Acceptance radius for fixedwing altitude.
| \[0.05, 200.0] (0.5) | 10.0 | m | | **NAV\_LOITER\_RAD** (FLOAT) |Loiter radius (FW only)
Comment: Default value of loiter radius in FW mode (e.g. for Loiter mode).
| \[25, 1000] (0.5) | 80.0 | m | | **NAV\_MC\_ALT\_RAD** (FLOAT) |MC Altitude Acceptance Radius
Comment: Acceptance radius for multicopter altitude.
| \[0.05, 200.0] (0.5) | 0.8 | m | | **NAV\_MIN\_LTR\_ALT** (FLOAT) |Minimum Loiter altitude
Comment: This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to"). Set to a negative value to disable.
| \[-1, ?] (0.5) | -1. | m | | **NAV\_TRAFF\_AVOID** (INT32) |Set traffic avoidance mode
Comment: Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders
Values:
Set NAV TRAFFIC AVOID horizontal distance
Comment: Defines a crosstrack horizontal distance
| \[500, ?] | 500 | m | | **NAV\_TRAFF\_A\_VER** (FLOAT) | Set NAV TRAFFIC AVOID vertical distance | \[10, 500] | 500 | m | | **NAV\_TRAFF\_COLL\_T** (INT32) |Estimated time until collision
Comment: Minimum acceptable time until collsion. Assumes constant speed over 3d distance.
| \[1, 900000000] | 60 | s | | **WEIGHT\_BASE** (FLOAT) |Vehicle base weight
Comment: This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.
| (0.5) | -1.0 | kg | | **WEIGHT\_GROSS** (FLOAT) |Vehicle gross weight
Comment: This is the actual weight of the vehicle at any time. This value will differ from WEIGHT\_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.
| (0.1) | -1.0 | kg | ## Mixer Output | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **MC\_AIRMODE** (INT32) |Multicopter air-mode
Comment: The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.
Values:
Stabilize the mount
Comment: Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.
Values:
Auxiliary channel to control pitch (in AUX input or manual mode) Values:
Auxiliary channel to control roll (in AUX input or manual mode) Values:
Auxiliary channel to control yaw (in AUX input or manual mode) Values:
Mavlink Component ID of the mount
Comment: If MNT\_MODE\_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.
| | 154 | | | **MNT\_MAV\_SYSID** (INT32) |Mavlink System ID of the mount
Comment: If MNT\_MODE\_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.
| | 1 | | | **MNT\_MODE\_IN** (INT32) |Mount input mode
Comment: This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.
Values:
Reboot required: true
| \[-1, 4] | -1 | | | **MNT\_MODE\_OUT** (INT32) |Mount output mode
Comment: This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.
Values:
Reboot required: true
| \[0, 2] | 0 | | | **MNT\_OFF\_PITCH** (FLOAT) | Offset for pitch channel output in degrees | \[-360.0, 360.0] | 0.0 | deg | | **MNT\_OFF\_ROLL** (FLOAT) | Offset for roll channel output in degrees | \[-360.0, 360.0] | 0.0 | deg | | **MNT\_OFF\_YAW** (FLOAT) | Offset for yaw channel output in degrees | \[-360.0, 360.0] | 0.0 | deg | | **MNT\_RANGE\_PITCH** (FLOAT) | Range of pitch channel output in degrees (only in AUX output mode) | \[1.0, 720.0] | 90.0 | deg | | **MNT\_RANGE\_ROLL** (FLOAT) | Range of roll channel output in degrees (only in AUX output mode) | \[1.0, 720.0] | 90.0 | deg | | **MNT\_RANGE\_YAW** (FLOAT) | Range of yaw channel output in degrees (only in AUX output mode) | \[1.0, 720.0] | 360.0 | deg | | **MNT\_RATE\_PITCH** (FLOAT) |Angular pitch rate for manual input in degrees/second
Comment: Full stick input \[-1..1] translats to \[-pitch rate..pitch rate].
| \[1.0, 90.0] | 30.0 | deg/s | | **MNT\_RATE\_YAW** (FLOAT) |Angular yaw rate for manual input in degrees/second
Comment: Full stick input \[-1..1] translats to \[-yaw rate..yaw rate].
| \[1.0, 90.0] | 30.0 | deg/s | | **MNT\_RC\_IN\_MODE** (INT32) |Input mode for RC gimbal input Values:
Acro mode roll, pitch expo factor
Comment: Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
| \[0, 1] | 0. | | | **MC\_ACRO\_EXPO\_Y** (FLOAT) |Acro mode yaw expo factor
Comment: Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
| \[0, 1] | 0. | | | **MC\_ACRO\_P\_MAX** (FLOAT) |Acro mode maximum pitch rate
Comment: Full stick deflection leads to this rate.
| \[0.0, 1800.0] (5) | 100. | deg/s | | **MC\_ACRO\_R\_MAX** (FLOAT) |Acro mode maximum roll rate
Comment: Full stick deflection leads to this rate.
| \[0.0, 1800.0] (5) | 100. | deg/s | | **MC\_ACRO\_SUPEXPO** (FLOAT) |Acro mode roll, pitch super expo factor
Comment: "Superexponential" factor for refining the input curve shape tuned using MC\_ACRO\_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
| \[0, 0.95] | 0. | | | **MC\_ACRO\_SUPEXPOY** (FLOAT) |Acro mode yaw super expo factor
Comment: "Superexponential" factor for refining the input curve shape tuned using MC\_ACRO\_EXPO\_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
| \[0, 0.95] | 0. | | | **MC\_ACRO\_Y\_MAX** (FLOAT) |Acro mode maximum yaw rate
Comment: Full stick deflection leads to this rate.
| \[0.0, 1800.0] (5) | 100. | deg/s | ## Multicopter Attitude Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **MC\_PITCHRATE\_MAX** (FLOAT) |Max pitch rate
Comment: Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
| \[0.0, 1800.0] (5) | 220.0 | deg/s | | **MC\_PITCH\_P** (FLOAT) |Pitch P gain
Comment: Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
| \[0.0, 12] (0.1) | 6.5 | | | **MC\_ROLLRATE\_MAX** (FLOAT) |Max roll rate
Comment: Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
| \[0.0, 1800.0] (5) | 220.0 | deg/s | | **MC\_ROLL\_P** (FLOAT) |Roll P gain
Comment: Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
| \[0.0, 12] (0.1) | 6.5 | | | **MC\_YAWRATE\_MAX** (FLOAT) | Max yaw rate | \[0.0, 1800.0] (5) | 200.0 | deg/s | | **MC\_YAW\_P** (FLOAT) |Yaw P gain
Comment: Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
| \[0.0, 5] (0.1) | 2.8 | | | **MC\_YAW\_WEIGHT** (FLOAT) |Yaw weight
Comment: A fraction \[0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC\_YAW\_P. This ratio has no impact on the yaw gain.
| \[0.0, 1.0] (0.1) | 0.4 | | | **MPC\_YAWRAUTO\_MAX** (FLOAT) |Max yaw rate in autonomous modes
Comment: Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.
| \[0, 360] (5) | 45. | deg/s | ## Multicopter Position Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | -------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **CP\_DELAY** (FLOAT) |Average delay of the range sensor message plus the tracking delay of the position controller in seconds
Comment: Only used in Position mode.
| \[0, 1] | 0.4 | s | | **CP\_DIST** (FLOAT) |Minimum distance the vehicle should keep to all obstacles
Comment: Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value
| \[-1, 15] | -1.0 | m | | **CP\_GO\_NO\_DATA** (INT32) |Boolean to allow moving into directions where there is no sensor data (outside FOV)
Comment: Only used in Position mode.
| | Disabled (0) | | | **CP\_GUIDE\_ANG** (FLOAT) |Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction
Comment: Only used in Position mode.
| \[0, 90] | 30. | deg | | **MC\_MAN\_TILT\_TAU** (FLOAT) |Manual tilt input filter time constant
Comment: Setting this parameter to 0 disables the filter
| \[0.0, 2.0] | 0.0 | s | | **MPC\_ACC\_DOWN\_MAX** (FLOAT) | Maximum downwards acceleration in climb rate controlled modes | \[2, 15] (1) | 3. | m/s^2 | | **MPC\_ACC\_HOR** (FLOAT) |Acceleration for autonomous and for manual modes
Comment: When piloting manually, this parameter is only used in MPC\_POS\_MODE 4.
| \[2, 15] (1) | 3. | m/s^2 | | **MPC\_ACC\_HOR\_MAX** (FLOAT) |Maximum horizontal acceleration
Comment: MPC\_POS\_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC\_ACC\_HOR instead
| \[2, 15] (1) | 5. | m/s^2 | | **MPC\_ACC\_UP\_MAX** (FLOAT) | Maximum upwards acceleration in climb rate controlled modes | \[2, 15] (1) | 4. | m/s^2 | | **MPC\_ALT\_MODE** (INT32) |Altitude reference mode
Comment: Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local\_position.distance\_bottom\_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC\_HOLD\_MAX\_XY parameter.
Values:
Deadzone for sticks in manual piloted modes
Comment: Does not apply to manual throttle and direct attitude piloting by stick.
| \[0, 1] (0.01) | 0.1 | | | **MPC\_HOLD\_MAX\_XY** (FLOAT) |Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
Comment: Only used with MPC\_POS\_MODE 0 or MPC\_ALT\_MODE 2
| \[0, 3] | 0.8 | m/s | | **MPC\_HOLD\_MAX\_Z** (FLOAT) |Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
Comment: Only used with MPC\_ALT\_MODE 1
| \[0, 3] | 0.6 | m/s | | **MPC\_JERK\_AUTO** (FLOAT) |Jerk limit in autonomous modes
Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.
| \[1, 80] (1) | 4. | m/s^3 | | **MPC\_JERK\_MAX** (FLOAT) |Maximum horizontal and vertical jerk in Position/Altitude mode
Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC\_POS\_MODE 3 and 4.
| \[0.5, 500] (1) | 8. | m/s^3 | | **MPC\_LAND\_ALT1** (FLOAT) |Altitude for 1. step of slow landing (descend)
Comment: Below this altitude descending velocity gets limited to a value between "MPC\_Z\_VEL\_MAX\_DN" (or "MPC\_Z\_V\_AUTO\_DN") and "MPC\_LAND\_SPEED" Value needs to be higher than "MPC\_LAND\_ALT2"
| \[0, 122] | 10. | m | | **MPC\_LAND\_ALT2** (FLOAT) |Altitude for 2. step of slow landing (landing)
Comment: Below this altitude descending velocity gets limited to "MPC\_LAND\_SPEED" Value needs to be lower than "MPC\_LAND\_ALT1"
| \[0, 122] | 5. | m | | **MPC\_LAND\_ALT3** (FLOAT) |Altitude for 3. step of slow landing
Comment: Below this altitude descending velocity gets limited to "MPC\_LAND\_CRWL", if LIDAR available. No effect if LIDAR not available
| \[0, 122] | 1. | m | | **MPC\_LAND\_CRWL** (FLOAT) |Land crawl descend rate
Comment: Used below MPC\_LAND\_ALT3 if distance sensor data is availabe.
| \[0.1, ?] | 0.3 | m/s | | **MPC\_LAND\_RADIUS** (FLOAT) |User assisted landing radius
Comment: When nudging is enabled (see MPC\_LAND\_RC\_HELP), this controls the maximum allowed horizontal displacement from the original landing point.
| \[0, ?] (1) | 1000. | m | | **MPC\_LAND\_RC\_HELP** (INT32) |Enable nudging based on user input during autonomous land routine
Comment: Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC\_LAND\_SPEED stick full down - 2 \* MPC\_LAND\_SPEED Manual override during auto modes has to be disabled to use this feature (see COM\_RC\_OVERRIDE).
Values:
Minimum collective thrust in Stabilized mode
Comment: The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC\_AIRMODE).
| \[0, 1] (0.01) | 0.08 | norm | | **MPC\_MAN\_TILT\_MAX** (FLOAT) | Maximal tilt angle in Stabilized or Altitude mode | \[0, 90] (1) | 35. | deg | | **MPC\_MAN\_Y\_MAX** (FLOAT) | Max manual yaw rate for Stabilized, Altitude, Position mode | \[0, 400] (10) | 150. | deg/s | | **MPC\_MAN\_Y\_TAU** (FLOAT) |Manual yaw rate input filter time constant
Comment: Not used in Stabilized mode Setting this parameter to 0 disables the filter
| \[0, 5] (0.01) | 0.08 | s | | **MPC\_POS\_MODE** (INT32) |Position/Altitude mode variant
Comment: The supported sub-modes are: 0 Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. 3 Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Sticks map to acceleration and there's a virtual brake drag
Values:
Thrust curve mapping in Stabilized Mode
Comment: This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC\_THR\_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC\_THR\_HOVER is set to 50%, the modes 0 and 1 are the same.
Values:
Vertical thrust required to hover
Comment: Mapped to center throttle stick in Stabilized mode (see MPC\_THR\_CURVE). Used for initialization of the hover thrust estimator (see MPC\_USE\_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.
| \[0.1, 0.8] (0.01) | 0.5 | norm | | **MPC\_THR\_MAX** (FLOAT) |Maximum collective thrust in climb rate controlled modes
Comment: Limit allowed thrust e.g. for indoor test of overpowered vehicle.
| \[0, 1] (0.05) | 1. | norm | | **MPC\_THR\_MIN** (FLOAT) |Minimum collective thrust in climb rate controlled modes
Comment: Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC\_AIRMODE).
| \[0.05, 0.5] (0.01) | 0.12 | norm | | **MPC\_THR\_XY\_MARG** (FLOAT) |Horizontal thrust margin
Comment: Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.
| \[0, 0.5] (0.01) | 0.3 | norm | | **MPC\_TILTMAX\_AIR** (FLOAT) |Maximum tilt angle in air
Comment: Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.
| \[20, 89] (1) | 45. | deg | | **MPC\_TILTMAX\_LND** (FLOAT) |Maximum tilt during inital takeoff ramp
Comment: Tighter tilt limit during takeoff to avoid tip over.
| \[5, 89] (1) | 12. | deg | | **MPC\_TKO\_RAMP\_T** (FLOAT) |Smooth takeoff ramp time constant
Comment: Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp
| \[0, 5] | 3. | s | | **MPC\_TKO\_SPEED** (FLOAT) | Takeoff climb rate | \[1, 5] | 1.5 | m/s | | **MPC\_USE\_HTE** (INT32) |Hover thrust estimator
Comment: Disable to use the fixed parameter MPC\_THR\_HOVER Enable to use the hover thrust estimator
| | Enabled (1) | | | **MPC\_VELD\_LP** (FLOAT) | Numerical velocity derivative low pass cutoff frequency | \[0, 10] (0.5) | 5.0 | Hz | | **MPC\_VEL\_MANUAL** (FLOAT) |Maximum horizontal velocity setpoint in Position mode
Comment: Must be smaller than MPC\_XY\_VEL\_MAX. The maximum sideways and backward speed can be set differently using MPC\_VEL\_MAN\_SIDE and MPC\_VEL\_MAN\_BACK, respectively.
| \[3, 20] (1) | 10. | m/s | | **MPC\_VEL\_MAN\_BACK** (FLOAT) |Maximum backward velocity in Position mode
Comment: If set to a negative value or larger than MPC\_VEL\_MANUAL then MPC\_VEL\_MANUAL is used.
| \[-1, 20] (1) | -1. | m/s | | **MPC\_VEL\_MAN\_SIDE** (FLOAT) |Maximum sideways velocity in Position mode
Comment: If set to a negative value or larger than MPC\_VEL\_MANUAL then MPC\_VEL\_MANUAL is used.
| \[-1, 20] (1) | -1. | m/s | | **MPC\_XY\_CRUISE** (FLOAT) |Default horizontal velocity in autonomous modes
Comment: e.g. in Missions, RTL, Goto if the waypoint does not specify differently
| \[3, 20] (1) | 5. | m/s | | **MPC\_XY\_ERR\_MAX** (FLOAT) |Maximum horizontal error allowed by the trajectory generator
Comment: The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.
| \[0.1, 10] (1) | 2. | | | **MPC\_XY\_MAN\_EXPO** (FLOAT) |Manual position control stick exponential curve sensitivity
Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve
| \[0, 1] (0.01) | 0.6 | | | **MPC\_XY\_P** (FLOAT) |Proportional gain for horizontal position error
Comment: Defined as corrective velocity in m/s per m position error
| \[0, 2] (0.1) | 0.95 | | | **MPC\_XY\_TRAJ\_P** (FLOAT) | Proportional gain for horizontal trajectory position error | \[0.1, 1] (0.1) | 0.5 | | | **MPC\_XY\_VEL\_ALL** (FLOAT) |Overall Horizontal Velocity Limit
Comment: If set to a value greater than zero, other parameters are automatically set (such as MPC\_XY\_VEL\_MAX or MPC\_VEL\_MANUAL). If set to a negative value, the existing individual parameters are used.
| \[-20, 20] (1) | -10. | | | **MPC\_XY\_VEL\_D\_ACC** (FLOAT) |Differential gain for horizontal velocity error
Comment: Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
| \[0.1, 2] (0.02) | 0.2 | | | **MPC\_XY\_VEL\_I\_ACC** (FLOAT) |Integral gain for horizontal velocity error
Comment: Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.
| \[0, 60] (0.02) | 0.4 | | | **MPC\_XY\_VEL\_MAX** (FLOAT) |Maximum horizontal velocity
Comment: Absolute maximum for all velocity controlled modes. Any higher value is truncated.
| \[0, 20] (1) | 12. | m/s | | **MPC\_XY\_VEL\_P\_ACC** (FLOAT) |Proportional gain for horizontal velocity error
Comment: Defined as corrective acceleration in m/s^2 per m/s velocity error
| \[1.2, 5] (0.1) | 1.8 | | | **MPC\_YAW\_EXPO** (FLOAT) |Manual control stick yaw rotation exponential curve
Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve
| \[0, 1] (0.01) | 0.6 | | | **MPC\_Z\_MAN\_EXPO** (FLOAT) |Manual control stick vertical exponential curve
Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve
| \[0, 1] (0.01) | 0.6 | | | **MPC\_Z\_P** (FLOAT) |Proportional gain for vertical position error
Comment: Defined as corrective velocity in m/s per m position error
| \[0.1, 1.5] (0.1) | 1. | | | **MPC\_Z\_VEL\_ALL** (FLOAT) |Overall Vertical Velocity Limit
Comment: If set to a value greater than zero, other parameters are automatically set (such as MPC\_Z\_VEL\_MAX\_UP or MPC\_LAND\_SPEED). If set to a negative value, the existing individual parameters are used.
| \[-3, 8] (0.5) | -3. | | | **MPC\_Z\_VEL\_D\_ACC** (FLOAT) |Differential gain for vertical velocity error
Comment: Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
| \[0, 2] (0.02) | 0. | | | **MPC\_Z\_VEL\_I\_ACC** (FLOAT) |Integral gain for vertical velocity error
Comment: Defined as corrective acceleration in m/s^2 per m velocity integral
| \[0.2, 3] (0.1) | 2. | | | **MPC\_Z\_VEL\_MAX\_DN** (FLOAT) |Maximum descent velocity
Comment: Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC\_Z\_V\_AUTO\_UP
| \[0.5, 4] (0.1) | 1.5 | m/s | | **MPC\_Z\_VEL\_MAX\_UP** (FLOAT) |Maximum ascent velocity
Comment: Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC\_Z\_V\_AUTO\_UP
| \[0.5, 8] (0.1) | 3. | m/s | | **MPC\_Z\_VEL\_P\_ACC** (FLOAT) |Proportional gain for vertical velocity error
Comment: Defined as corrective acceleration in m/s^2 per m/s velocity error
| \[2, 15] (0.1) | 4. | | | **MPC\_Z\_V\_AUTO\_DN** (FLOAT) |Descent velocity in autonomous modes
Comment: For manual modes and offboard, see MPC\_Z\_VEL\_MAX\_DN
| \[0.5, 4] (0.5) | 1.5 | m/s | | **MPC\_Z\_V\_AUTO\_UP** (FLOAT) |Ascent velocity in autonomous modes
Comment: For manually controlled modes and offboard see MPC\_Z\_VEL\_MAX\_UP
| \[0.5, 8] (0.5) | 3. | m/s | | **SYS\_VEHICLE\_RESP** (FLOAT) |Responsiveness
Comment: Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.
| \[-1, 1] (0.05) | -0.4 | | | **WV\_EN** (INT32) | Enable weathervane | | Disabled (0) | | | **WV\_ROLL\_MIN** (FLOAT) | Minimum roll angle setpoint for weathervane controller to demand a yaw-rate | \[0, 5] | 1.0 | deg | | **WV\_YRATE\_MAX** (FLOAT) | Maximum yawrate the weathervane controller is allowed to demand | \[0, 120] | 90.0 | deg/s | ## Multicopter Rate Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------- | ------------ | ----- | | **MC\_BAT\_SCALE\_EN** (INT32) |Battery power level scaler
Comment: This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
| | Disabled (0) | | | **MC\_PITCHRATE\_D** (FLOAT) |Pitch rate D gain
Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| \[0.0, ?] (0.0005) | 0.003 | | | **MC\_PITCHRATE\_FF** (FLOAT) |Pitch rate feedforward
Comment: Improves tracking performance.
| \[0.0, ?] | 0.0 | | | **MC\_PITCHRATE\_I** (FLOAT) |Pitch rate I gain
Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
| \[0.0, ?] (0.01) | 0.2 | | | **MC\_PITCHRATE\_K** (FLOAT) |Pitch rate controller gain
Comment: Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC\_PITCHRATE\_K \* (MC\_PITCHRATE\_P \* error + MC\_PITCHRATE\_I \* error\_integral + MC\_PITCHRATE\_D \* error\_derivative) Set MC\_PITCHRATE\_P=1 to implement a PID in the ideal form. Set MC\_PITCHRATE\_K=1 to implement a PID in the parallel form.
| \[0.01, 5.0] (0.0005) | 1.0 | | | **MC\_PITCHRATE\_P** (FLOAT) |Pitch rate P gain
Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
| \[0.01, 0.6] (0.01) | 0.15 | | | **MC\_PR\_INT\_LIM** (FLOAT) |Pitch rate integrator limit
Comment: Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
| \[0.0, ?] (0.01) | 0.30 | | | **MC\_ROLLRATE\_D** (FLOAT) |Roll rate D gain
Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| \[0.0, 0.01] (0.0005) | 0.003 | | | **MC\_ROLLRATE\_FF** (FLOAT) |Roll rate feedforward
Comment: Improves tracking performance.
| \[0.0, ?] | 0.0 | | | **MC\_ROLLRATE\_I** (FLOAT) |Roll rate I gain
Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
| \[0.0, ?] (0.01) | 0.2 | | | **MC\_ROLLRATE\_K** (FLOAT) |Roll rate controller gain
Comment: Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC\_ROLLRATE\_K \* (MC\_ROLLRATE\_P \* error + MC\_ROLLRATE\_I \* error\_integral + MC\_ROLLRATE\_D \* error\_derivative) Set MC\_ROLLRATE\_P=1 to implement a PID in the ideal form. Set MC\_ROLLRATE\_K=1 to implement a PID in the parallel form.
| \[0.01, 5.0] (0.0005) | 1.0 | | | **MC\_ROLLRATE\_P** (FLOAT) |Roll rate P gain
Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
| \[0.01, 0.5] (0.01) | 0.15 | | | **MC\_RR\_INT\_LIM** (FLOAT) |Roll rate integrator limit
Comment: Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
| \[0.0, ?] (0.01) | 0.30 | | | **MC\_YAWRATE\_D** (FLOAT) |Yaw rate D gain
Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| \[0.0, ?] (0.01) | 0.0 | | | **MC\_YAWRATE\_FF** (FLOAT) |Yaw rate feedforward
Comment: Improves tracking performance.
| \[0.0, ?] (0.01) | 0.0 | | | **MC\_YAWRATE\_I** (FLOAT) |Yaw rate I gain
Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
| \[0.0, ?] (0.01) | 0.1 | | | **MC\_YAWRATE\_K** (FLOAT) |Yaw rate controller gain
Comment: Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC\_YAWRATE\_K \* (MC\_YAWRATE\_P \* error + MC\_YAWRATE\_I \* error\_integral + MC\_YAWRATE\_D \* error\_derivative) Set MC\_YAWRATE\_P=1 to implement a PID in the ideal form. Set MC\_YAWRATE\_K=1 to implement a PID in the parallel form.
| \[0.0, 5.0] (0.0005) | 1.0 | | | **MC\_YAWRATE\_P** (FLOAT) |Yaw rate P gain
Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
| \[0.0, 0.6] (0.01) | 0.2 | | | **MC\_YR\_INT\_LIM** (FLOAT) |Yaw rate integrator limit
Comment: Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
| \[0.0, ?] (0.01) | 0.30 | | ## OSD | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **MSP\_OSD\_CONFIG** (INT32) |Serial Configuration for MSP OSD
Comment: Configure on which serial port to run MSP OSD.
Values:
Reboot required: true
| | 0 | | | **OSD\_ATXXXX\_CFG** (INT32) |Enable/Disable the ATXXX OSD Chip
Comment: Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.
Values:
Reboot required: true
| | 0 | | | **OSD\_CH\_HEIGHT** (INT32) |OSD Crosshairs Height
Comment: Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon
| \[-8, 8] | 0 | | | **OSD\_DWELL\_TIME** (INT32) |OSD Dwell Time (ms)
Comment: Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.
| \[100, 10000] | 500 | | | **OSD\_LOG\_LEVEL** (INT32) |OSD Warning Level
Comment: Minimum security of log level to display on the OSD.
| | 3 | | | **OSD\_SCROLL\_RATE** (INT32) |OSD Scroll Rate (ms)
Comment: Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.
| \[100, 1000] | 125 | | | **OSD\_SYMBOLS** (INT32) |OSD Symbol Selection
Comment: Configure / toggle support display options.
Bitmask:
PWM frequency for PCA9685
Comment: Update rate at which the PWM signal is sent to the ESC.
Reboot required: True
| \[50, 450] (0.1) | 50 | Hz | ## PWM Outputs | Name | Description | \[Min, Max] (Incr.) | Default | Units | | --------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ------------- | | **MOT\_SLEW\_MAX** (FLOAT) |Minimum motor rise time (slew rate limit)
Comment: 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 minimum x seconds. Zero means that slew rate limiting is disabled.
| \[0.0, ?] | 0.0 | s/(1000\*PWM) | | **PWM\_SBUS\_MODE** (INT32) |S.BUS out
Comment: Set to 1 to enable S.BUS version 1 output instead of RSSI.
| | Disabled (0) | | | **THR\_MDL\_FAC** (FLOAT) |Thrust to motor control signal model parameter
Comment: Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel\_thrust = factor \* rel\_signal^2 + (1-factor) \* rel\_signal, where rel\_thrust is the normalized thrust between 0 and 1, and rel\_signal is the relative motor control signal between 0 and 1.
| \[0.0, 1.0] (0.1) | 0.0 | | ## Payload Deliverer | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **PD\_GRIPPER\_EN** (INT32) |Enable Gripper actuation in Payload Deliverer
Reboot required: True
| | Disabled (0) | | | **PD\_GRIPPER\_TO** (FLOAT) |Timeout for successful gripper actuation acknowledgement
Comment: Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action
| \[0, ?] | 3 | s | | **PD\_GRIPPER\_TYPE** (INT32) |Type of Gripper (Servo, etc.) Values:
Landing Target Timeout
Comment: Time after which the landing target is considered lost without any new measurements.
| \[0.0, 50] (0.5) | 5.0 | s | | **PLD\_FAPPR\_ALT** (FLOAT) |Final approach altitude
Comment: Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
| \[0.0, 10] (0.1) | 0.1 | m | | **PLD\_HACC\_RAD** (FLOAT) |Horizontal acceptance radius
Comment: Start descending if closer above landing target than this.
| \[0.0, 10] (0.1) | 0.2 | m | | **PLD\_MAX\_SRCH** (INT32) |Maximum number of search attempts
Comment: Maximum number of times to search for the landing target if it is lost during the precision landing.
| \[0, 100] | 3 | | | **PLD\_SRCH\_ALT** (FLOAT) |Search altitude
Comment: Altitude above home to which to climb when searching for the landing target.
| \[0.0, 100] (0.1) | 10.0 | m | | **PLD\_SRCH\_TOUT** (FLOAT) |Search timeout
Comment: Time allowed to search for the landing target before falling back to normal landing.
| \[0.0, 100] (0.1) | 10.0 | s | ## RC | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------------- | ----------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **RC\_CRSF\_TEL\_EN** (INT32) |Crossfire RC telemetry enable
Comment: Crossfire telemetry enable
| | Disabled (0) | | ## RC Input | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ---------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **RC\_INPUT\_PROTO** (INT32) |RC input protocol
Comment: Select your RC input protocol or auto to scan.
Values:
RC channel 10 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC10\_MAX** (FLOAT) |RC channel 10 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC10\_MIN** (FLOAT) |RC channel 10 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC10\_REV** (FLOAT) |RC channel 10 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 10 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC11\_DZ** (FLOAT) |RC channel 11 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC11\_MAX** (FLOAT) |RC channel 11 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC11\_MIN** (FLOAT) |RC channel 11 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC11\_REV** (FLOAT) |RC channel 11 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 11 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC12\_DZ** (FLOAT) |RC channel 12 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC12\_MAX** (FLOAT) |RC channel 12 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC12\_MIN** (FLOAT) |RC channel 12 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC12\_REV** (FLOAT) |RC channel 12 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 12 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC13\_DZ** (FLOAT) |RC channel 13 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC13\_MAX** (FLOAT) |RC channel 13 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC13\_MIN** (FLOAT) |RC channel 13 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC13\_REV** (FLOAT) |RC channel 13 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 13 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC14\_DZ** (FLOAT) |RC channel 14 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC14\_MAX** (FLOAT) |RC channel 14 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC14\_MIN** (FLOAT) |RC channel 14 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC14\_REV** (FLOAT) |RC channel 14 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 14 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC15\_DZ** (FLOAT) |RC channel 15 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC15\_MAX** (FLOAT) |RC channel 15 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC15\_MIN** (FLOAT) |RC channel 15 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC15\_REV** (FLOAT) |RC channel 15 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 15 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC16\_DZ** (FLOAT) |RC channel 16 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC16\_MAX** (FLOAT) |RC channel 16 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC16\_MIN** (FLOAT) |RC channel 16 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC16\_REV** (FLOAT) |RC channel 16 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 16 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC17\_DZ** (FLOAT) |RC channel 17 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC17\_MAX** (FLOAT) |RC channel 17 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC17\_MIN** (FLOAT) |RC channel 17 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC17\_REV** (FLOAT) |RC channel 17 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 17 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC18\_DZ** (FLOAT) |RC channel 18 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC18\_MAX** (FLOAT) |RC channel 18 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC18\_MIN** (FLOAT) |RC channel 18 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC18\_REV** (FLOAT) |RC channel 18 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 18 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC1\_DZ** (FLOAT) |RC channel 1 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | us | | **RC1\_MAX** (FLOAT) |RC channel 1 maximum
Comment: Maximum value for RC channel 1
| \[1500.0, 2200.0] | 2000.0 | us | | **RC1\_MIN** (FLOAT) |RC channel 1 minimum
Comment: Minimum value for RC channel 1
| \[800.0, 1500.0] | 1000.0 | us | | **RC1\_REV** (FLOAT) |RC channel 1 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 1 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500.0 | us | | **RC2\_DZ** (FLOAT) |RC channel 2 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | us | | **RC2\_MAX** (FLOAT) |RC channel 2 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000.0 | us | | **RC2\_MIN** (FLOAT) |RC channel 2 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000.0 | us | | **RC2\_REV** (FLOAT) |RC channel 2 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 2 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500.0 | us | | **RC3\_DZ** (FLOAT) |RC channel 3 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | us | | **RC3\_MAX** (FLOAT) |RC channel 3 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC3\_MIN** (FLOAT) |RC channel 3 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC3\_REV** (FLOAT) |RC channel 3 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 3 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC4\_DZ** (FLOAT) |RC channel 4 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | us | | **RC4\_MAX** (FLOAT) |RC channel 4 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC4\_MIN** (FLOAT) |RC channel 4 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC4\_REV** (FLOAT) |RC channel 4 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 4 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC5\_DZ** (FLOAT) |RC channel 5 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | | | **RC5\_MAX** (FLOAT) |RC channel 5 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC5\_MIN** (FLOAT) |RC channel 5 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC5\_REV** (FLOAT) |RC channel 5 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 5 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC6\_DZ** (FLOAT) |RC channel 6 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | | | **RC6\_MAX** (FLOAT) |RC channel 6 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC6\_MIN** (FLOAT) |RC channel 6 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC6\_REV** (FLOAT) |RC channel 6 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 6 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC7\_DZ** (FLOAT) |RC channel 7 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | | | **RC7\_MAX** (FLOAT) |RC channel 7 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC7\_MIN** (FLOAT) |RC channel 7 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC7\_REV** (FLOAT) |RC channel 7 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 7 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC8\_DZ** (FLOAT) |RC channel 8 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 10.0 | | | **RC8\_MAX** (FLOAT) |RC channel 8 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC8\_MIN** (FLOAT) |RC channel 8 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC8\_REV** (FLOAT) |RC channel 8 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 8 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC9\_DZ** (FLOAT) |RC channel 9 dead zone
Comment: The +- range of this value around the trim value will be considered as zero.
| \[0.0, 100.0] | 0.0 | | | **RC9\_MAX** (FLOAT) |RC channel 9 maximum
Comment: Maximum value for this channel.
| \[1500.0, 2200.0] | 2000 | us | | **RC9\_MIN** (FLOAT) |RC channel 9 minimum
Comment: Minimum value for this channel.
| \[800.0, 1500.0] | 1000 | us | | **RC9\_REV** (FLOAT) |RC channel 9 reverse
Comment: Set to -1 to reverse channel.
Values:
RC channel 9 trim
Comment: Mid point value
| \[800.0, 2200.0] | 1500 | us | | **RC\_CHAN\_CNT** (INT32) |RC channel count
Comment: This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.
| \[0, 18] | 0 | | | **RC\_FAILS\_THR** (INT32) |Failsafe channel PWM threshold
Comment: Use RC\_MAP\_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).
| \[0, 2200] | 0 | us | | **RC\_MAP\_AUX1** (INT32) |AUX1 Passthrough RC channel
Comment: Default function: Camera pitch
Values:
AUX2 Passthrough RC channel
Comment: Default function: Camera roll
Values:
AUX3 Passthrough RC channel
Comment: Default function: Camera azimuth / yaw
Values:
AUX4 Passthrough RC channel Values:
AUX5 Passthrough RC channel Values:
AUX6 Passthrough RC channel Values:
RC channel to engage the main motor (for helicopters) Values:
Failsafe channel mapping
Comment: Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC\_FAILS\_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.
Values:
PARAM1 tuning channel
Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate \*
Values:
PARAM2 tuning channel
Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate \*
Values:
PARAM3 tuning channel
Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate \*
Values:
Pitch control channel mapping
Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.
Values:
Roll control channel mapping
Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.
Values:
Throttle control channel mapping
Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.
Values:
Yaw control channel mapping
Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.
Values:
PWM input channel that provides RSSI
Comment: 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.
Values:
Max input value for RSSI reading
Comment: Only used if RC\_RSSI\_PWM\_CHAN > 0
| \[0, 2000] | 2000 | | | **RC\_RSSI\_PWM\_MIN** (INT32) |Min input value for RSSI reading
Comment: Only used if RC\_RSSI\_PWM\_CHAN > 0
| \[0, 2000] | 1000 | | | **TRIM\_PITCH** (FLOAT) |Pitch trim
Comment: The trim value is the actuator control value the system needs for straight and level flight.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **TRIM\_ROLL** (FLOAT) |Roll trim
Comment: The trim value is the actuator control value the system needs for straight and level flight.
| \[-0.5, 0.5] (0.01) | 0.0 | | | **TRIM\_YAW** (FLOAT) |Yaw trim
Comment: The trim value is the actuator control value the system needs for straight and level flight.
| \[-0.5, 0.5] (0.01) | 0.0 | | ## Radio Switches | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **RC\_ARMSWITCH\_TH** (FLOAT) |Threshold for the arm switch
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_ENG\_MOT\_TH** (FLOAT) |Threshold for selecting main motor engage
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_GEAR\_TH** (FLOAT) |Threshold for the landing gear switch
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_KILLSWITCH\_TH** (FLOAT) |Threshold for the kill switch
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_LOITER\_TH** (FLOAT) |Threshold for selecting loiter mode
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_MAP\_ACRO\_SW** (INT32) |Acro switch channel (deprecated) Values:
Arm switch channel
Comment: Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.
Values:
Flaps channel Values:
Single channel flight mode selection
Comment: If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.
Values:
Button flight mode selection
Comment: This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM\_FLTMODEX parameters. The functionality can be used only if RC\_MAP\_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.
Bitmask:
Landing gear switch channel Values:
Emergency Kill switch channel Values:
Loiter switch channel Values:
Manual switch channel mapping (deprecated) Values:
Mode switch channel mapping (deprecated)
Comment: This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.
Values:
Offboard switch channel Values:
Position Control switch channel (deprecated) Values:
Rattitude switch channel (deprecated) Values:
Return switch channel Values:
Stabilize switch channel mapping (deprecated) Values:
VTOL transition switch channel mapping Values:
Threshold for selecting offboard mode
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_RETURN\_TH** (FLOAT) |Threshold for selecting return to launch mode
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | | **RC\_TRANS\_TH** (FLOAT) |Threshold for the VTOL transition switch
Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel
| \[-1, 1] | 0.75 | | ## Return Mode | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **RTL\_CONE\_ANG** (INT32) |Half-angle of the return mode altitude cone
Comment: Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.
Values:
Return mode loiter altitude
Comment: Descend to this altitude (above destination position) after return, and wait for time defined in RTL\_LAND\_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.
| \[0, ?] (0.5) | 30. | m | | **RTL\_HDG\_MD** (INT32) |RTL heading mode
Comment: Defines the heading behavior during RTL
Values:
Return mode delay
Comment: Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL\_DESCEND\_ALT.
| \[-1, ?] (0.5) | 0.0 | s | | **RTL\_LOITER\_RAD** (FLOAT) |Loiter radius for rtl descend
Comment: Set the radius for loitering to a safe altitude for VTOL transition.
| \[25, ?] (0.5) | 80.0 | m | | **RTL\_MIN\_DIST** (FLOAT) |Horizontal radius from return point within which special rules for return mode apply
Comment: The return altitude will be calculated based on RTL\_CONE\_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.
| \[0.5, ?] (0.5) | 10.0 | m | | **RTL\_PLD\_MD** (INT32) |RTL precision land mode
Comment: Use precision landing when doing an RTL landing phase.
Values:
Return mode return altitude
Comment: Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL\_MIN\_DIST and RTL\_CONE\_ANG.
| \[0, ?] (0.5) | 60. | m | | **RTL\_TYPE** (INT32) |Return type
Comment: Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
Values:
RTL time estimate safety margin factor
Comment: Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL\_TIME\_FACTOR \* time + RTL\_TIME\_MARGIN
| \[1.0, 2.0] (0.1) | 1.1 | | | **RTL\_TIME\_MARGIN** (INT32) |RTL time estimate safety margin offset
Comment: Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL\_TIME\_FACTOR \* time + RTL\_TIME\_MARGIN
| \[0, 3600] (1) | 100 | s | ## Rover Position Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------- | ------- | ----- | | **GND\_L1\_DAMPING** (FLOAT) |L1 damping
Comment: Damping factor for L1 control.
| \[0.6, 0.9] (0.05) | 0.75 | | | **GND\_L1\_DIST** (FLOAT) |L1 distance
Comment: This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND\_WHEEL\_BASE and not smaller than one meter (due to GPS accuracy).
| \[1.0, 50.0] (0.1) | 1.0 | m | | **GND\_L1\_PERIOD** (FLOAT) |L1 period
Comment: This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.
| \[0.5, 50.0] (0.5) | 5.0 | m | | **GND\_MAN\_Y\_MAX** (FLOAT) | Max manual yaw rate | \[0.0, 400] | 150.0 | deg/s | | **GND\_MAX\_ANG** (FLOAT) |Maximum turn angle for Ackerman steering
Comment: At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND\_MAX\_ANG radians.
| \[0.0, 3.14159] (0.01) | 0.7854 | rad | | **GND\_SPEED\_D** (FLOAT) |Speed proportional gain
Comment: This is the derivative gain for the speed closed loop controller
| \[0.00, 50.0] (0.005) | 0.001 | %m/s | | **GND\_SPEED\_I** (FLOAT) |Speed Integral gain
Comment: This is the integral gain for the speed closed loop controller
| \[0.00, 50.0] (0.005) | 3.0 | %m/s | | **GND\_SPEED\_IMAX** (FLOAT) |Speed integral maximum value
Comment: This is the maxim value the integral can reach to prevent wind-up.
| \[0.005, 50.0] (0.005) | 1.0 | %m/s | | **GND\_SPEED\_MAX** (FLOAT) | Maximum ground speed | \[0.0, 40] (0.5) | 10.0 | m/s | | **GND\_SPEED\_P** (FLOAT) |Speed proportional gain
Comment: This is the proportional gain for the speed closed loop controller
| \[0.005, 50.0] (0.005) | 2.0 | %m/s | | **GND\_SPEED\_THR\_SC** (FLOAT) |Speed to throttle scaler
Comment: This is a gain to map the speed control output to the throttle linearly.
| \[0.005, 50.0] (0.005) | 1.0 | %m/s | | **GND\_SPEED\_TRIM** (FLOAT) | Trim ground speed | \[0.0, 40] (0.5) | 3.0 | m/s | | **GND\_SP\_CTRL\_MODE** (INT32) |Control mode for speed
Comment: This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
Values:
Cruise throttle
Comment: This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode
| \[0.0, 1.0] (0.01) | 0.1 | norm | | **GND\_THR\_MAX** (FLOAT) |Throttle limit max
Comment: This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
| \[0.0, 1.0] (0.01) | 0.3 | norm | | **GND\_THR\_MIN** (FLOAT) |Throttle limit min
Comment: This is the minimum throttle % that can be used by the controller. Set to 0 for rover
| \[0.0, 1.0] (0.01) | 0.0 | norm | | **GND\_WHEEL\_BASE** (FLOAT) |Distance from front axle to rear axle
Comment: A value of 0.31 is typical for 1/10 RC cars.
| \[0.0, ?] (0.01) | 0.31 | m | ## Runway Takeoff | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------- | ------------ | ----- | | **RWTO\_HDG** (INT32) |Specifies which heading should be held during the runway takeoff ground roll
Comment: 0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV\_CMD\_TAKEOFF position defined by operator)
Values:
Enable use of yaw stick for nudging the wheel during runway ground roll
Comment: This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.
| | Enabled (1) | | | **RWTO\_PSP** (FLOAT) |Pitch setpoint during taxi / before takeoff rotation airspeed is reached
Comment: A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.
| \[-10.0, 20.0] (0.5) | 0.0 | deg | | **RWTO\_RAMP\_TIME** (FLOAT) | Throttle ramp up time for runway takeoff | \[1.0, 15.0] (0.1) | 2.0 | s | | **RWTO\_ROT\_AIRSPD** (FLOAT) |Takeoff rotation airspeed
Comment: The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW\_TKO\_AIRSPD). If set <= 0.0, defaults to 0.9 \* takeoff airspeed (see FW\_TKO\_AIRSPD)
| \[-1.0, ?] (0.1) | -1.0 | m/s | | **RWTO\_ROT\_TIME** (FLOAT) |Takeoff rotation time
Comment: This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation
| \[0.1, ?] (0.1) | 1.0 | s | | **RWTO\_TKOFF** (INT32) | Runway takeoff with landing gear | | Disabled (0) | | ## SD Logging | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **SDLOG\_ALGORITHM** (INT32) |Logfile Encryption algorithm
Comment: Selects the algorithm used for logfile encryption
Values:
Battery-only Logging
Comment: When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.
| | Disabled (0) | | | **SDLOG\_DIRS\_MAX** (INT32) |Maximum number of log directories to keep
Comment: If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.
Reboot required: true
| \[0, 1000] | 0 | | | **SDLOG\_EXCH\_KEY** (INT32) |Logfile Encryption key exchange key
Comment: If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.
| \[0, 255] | 1 | | | **SDLOG\_KEY** (INT32) |Logfile Encryption key index
Comment: Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG\_EXCHANGE\_KEY
| \[0, 255] | 2 | | | **SDLOG\_MISSION** (INT32) |Mission Log
Comment: If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).
Values:
Reboot required: true
| | 0 | | | **SDLOG\_MODE** (INT32) |Logging Mode
Comment: Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.
Values:
Reboot required: true
| | 0 | | | **SDLOG\_PROFILE** (INT32) |Logging topic profile (integer bitmask)
Comment: This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug\_\*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)
Bitmask:
Reboot required: true
| \[0, 2047] | 1 | | | **SDLOG\_UTC\_OFFSET** (INT32) |UTC offset (unit: min)
Comment: 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
Log UUID
Comment: If set to 1, add an ID to the log, which uniquely identifies the vehicle
| | Enabled (1) | | ## SITL | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **SIM\_BAT\_DRAIN** (FLOAT) | Simulator Battery drain interval | \[1, 86400] (1) | 60 | s | | **SIM\_BAT\_MIN\_PCT** (FLOAT) |Simulator Battery minimal percentage
Comment: Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.
| \[0, 100] (0.1) | 50.0 | % | ## Sensor Calibration | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **CAL\_ACC0\_ID** (INT32) |Accelerometer 0 calibration device ID
Comment: Device ID of the accelerometer this calibration applies to.
| | 0 | | | **CAL\_ACC0\_PRIO** (INT32) |Accelerometer 0 priority Values:
Accelerometer 0 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Accelerometer 1 calibration device ID
Comment: Device ID of the accelerometer this calibration applies to.
| | 0 | | | **CAL\_ACC1\_PRIO** (INT32) |Accelerometer 1 priority Values:
Accelerometer 1 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Accelerometer 2 calibration device ID
Comment: Device ID of the accelerometer this calibration applies to.
| | 0 | | | **CAL\_ACC2\_PRIO** (INT32) |Accelerometer 2 priority Values:
Accelerometer 2 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Accelerometer 3 calibration device ID
Comment: Device ID of the accelerometer this calibration applies to.
| | 0 | | | **CAL\_ACC3\_PRIO** (INT32) |Accelerometer 3 priority Values:
Accelerometer 3 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Barometer 0 calibration device ID
Comment: Device ID of the barometer this calibration applies to.
| | 0 | | | **CAL\_BARO0\_OFF** (FLOAT) | Barometer 0 offset | | 0.0 | | | **CAL\_BARO0\_PRIO** (INT32) |Barometer 0 priority Values:
Barometer 1 calibration device ID
Comment: Device ID of the barometer this calibration applies to.
| | 0 | | | **CAL\_BARO1\_OFF** (FLOAT) | Barometer 1 offset | | 0.0 | | | **CAL\_BARO1\_PRIO** (INT32) |Barometer 1 priority Values:
Barometer 2 calibration device ID
Comment: Device ID of the barometer this calibration applies to.
| | 0 | | | **CAL\_BARO2\_OFF** (FLOAT) | Barometer 2 offset | | 0.0 | | | **CAL\_BARO2\_PRIO** (INT32) |Barometer 2 priority Values:
Barometer 3 calibration device ID
Comment: Device ID of the barometer this calibration applies to.
| | 0 | | | **CAL\_BARO3\_OFF** (FLOAT) | Barometer 3 offset | | 0.0 | | | **CAL\_BARO3\_PRIO** (INT32) |Barometer 3 priority Values:
Gyroscope 0 calibration device ID
Comment: Device ID of the gyroscope this calibration applies to.
| | 0 | | | **CAL\_GYRO0\_PRIO** (INT32) |Gyroscope 0 priority Values:
Gyroscope 0 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Gyroscope 1 calibration device ID
Comment: Device ID of the gyroscope this calibration applies to.
| | 0 | | | **CAL\_GYRO1\_PRIO** (INT32) |Gyroscope 1 priority Values:
Gyroscope 1 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Gyroscope 2 calibration device ID
Comment: Device ID of the gyroscope this calibration applies to.
| | 0 | | | **CAL\_GYRO2\_PRIO** (INT32) |Gyroscope 2 priority Values:
Gyroscope 2 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Gyroscope 3 calibration device ID
Comment: Device ID of the gyroscope this calibration applies to.
| | 0 | | | **CAL\_GYRO3\_PRIO** (INT32) |Gyroscope 3 priority Values:
Gyroscope 3 rotation relative to airframe
Comment: An internal sensor 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.
Values:
Magnetometer 0 calibration device ID
Comment: Device ID of the magnetometer this calibration applies to.
| | 0 | | | **CAL\_MAG0\_PITCH** (FLOAT) |Magnetometer 0 Custom Euler Pitch Angle
Comment: Setting this parameter changes CAL\_MAG0\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG0\_PRIO** (INT32) |Magnetometer 0 priority Values:
Magnetometer 0 Custom Euler Roll Angle
Comment: Setting this parameter changes CAL\_MAG0\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG0\_ROT** (INT32) |Magnetometer 0 rotation relative to airframe
Comment: An internal sensor 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. Set to "Custom Euler Angle" to define the rotation using CAL\_MAG0\_ROLL, CAL\_MAG0\_PITCH and CAL\_MAG0\_YAW.
Values:
Magnetometer 0 X Axis throttle compensation
Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG0\_XODIAG** (FLOAT) | Magnetometer 0 X-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG0\_XOFF** (FLOAT) | Magnetometer 0 X-axis offset | | 0.0 | gauss | | **CAL\_MAG0\_XSCALE** (FLOAT) | Magnetometer 0 X-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG0\_YAW** (FLOAT) |Magnetometer 0 Custom Euler Yaw Angle
Comment: Setting this parameter changes CAL\_MAG0\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG0\_YCOMP** (FLOAT) |Magnetometer 0 Y Axis throttle compensation
Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG0\_YODIAG** (FLOAT) | Magnetometer 0 Y-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG0\_YOFF** (FLOAT) | Magnetometer 0 Y-axis offset | | 0.0 | gauss | | **CAL\_MAG0\_YSCALE** (FLOAT) | Magnetometer 0 Y-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG0\_ZCOMP** (FLOAT) |Magnetometer 0 Z Axis throttle compensation
Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG0\_ZODIAG** (FLOAT) | Magnetometer 0 Z-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG0\_ZOFF** (FLOAT) | Magnetometer 0 Z-axis offset | | 0.0 | gauss | | **CAL\_MAG0\_ZSCALE** (FLOAT) | Magnetometer 0 Z-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG1\_ID** (INT32) |Magnetometer 1 calibration device ID
Comment: Device ID of the magnetometer this calibration applies to.
| | 0 | | | **CAL\_MAG1\_PITCH** (FLOAT) |Magnetometer 1 Custom Euler Pitch Angle
Comment: Setting this parameter changes CAL\_MAG1\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG1\_PRIO** (INT32) |Magnetometer 1 priority Values:
Magnetometer 1 Custom Euler Roll Angle
Comment: Setting this parameter changes CAL\_MAG1\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG1\_ROT** (INT32) |Magnetometer 1 rotation relative to airframe
Comment: An internal sensor 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. Set to "Custom Euler Angle" to define the rotation using CAL\_MAG1\_ROLL, CAL\_MAG1\_PITCH and CAL\_MAG1\_YAW.
Values:
Magnetometer 1 X Axis throttle compensation
Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG1\_XODIAG** (FLOAT) | Magnetometer 1 X-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG1\_XOFF** (FLOAT) | Magnetometer 1 X-axis offset | | 0.0 | gauss | | **CAL\_MAG1\_XSCALE** (FLOAT) | Magnetometer 1 X-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG1\_YAW** (FLOAT) |Magnetometer 1 Custom Euler Yaw Angle
Comment: Setting this parameter changes CAL\_MAG1\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG1\_YCOMP** (FLOAT) |Magnetometer 1 Y Axis throttle compensation
Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG1\_YODIAG** (FLOAT) | Magnetometer 1 Y-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG1\_YOFF** (FLOAT) | Magnetometer 1 Y-axis offset | | 0.0 | gauss | | **CAL\_MAG1\_YSCALE** (FLOAT) | Magnetometer 1 Y-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG1\_ZCOMP** (FLOAT) |Magnetometer 1 Z Axis throttle compensation
Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG1\_ZODIAG** (FLOAT) | Magnetometer 1 Z-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG1\_ZOFF** (FLOAT) | Magnetometer 1 Z-axis offset | | 0.0 | gauss | | **CAL\_MAG1\_ZSCALE** (FLOAT) | Magnetometer 1 Z-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG2\_ID** (INT32) |Magnetometer 2 calibration device ID
Comment: Device ID of the magnetometer this calibration applies to.
| | 0 | | | **CAL\_MAG2\_PITCH** (FLOAT) |Magnetometer 2 Custom Euler Pitch Angle
Comment: Setting this parameter changes CAL\_MAG2\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG2\_PRIO** (INT32) |Magnetometer 2 priority Values:
Magnetometer 2 Custom Euler Roll Angle
Comment: Setting this parameter changes CAL\_MAG2\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG2\_ROT** (INT32) |Magnetometer 2 rotation relative to airframe
Comment: An internal sensor 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. Set to "Custom Euler Angle" to define the rotation using CAL\_MAG2\_ROLL, CAL\_MAG2\_PITCH and CAL\_MAG2\_YAW.
Values:
Magnetometer 2 X Axis throttle compensation
Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG2\_XODIAG** (FLOAT) | Magnetometer 2 X-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG2\_XOFF** (FLOAT) | Magnetometer 2 X-axis offset | | 0.0 | gauss | | **CAL\_MAG2\_XSCALE** (FLOAT) | Magnetometer 2 X-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG2\_YAW** (FLOAT) |Magnetometer 2 Custom Euler Yaw Angle
Comment: Setting this parameter changes CAL\_MAG2\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG2\_YCOMP** (FLOAT) |Magnetometer 2 Y Axis throttle compensation
Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG2\_YODIAG** (FLOAT) | Magnetometer 2 Y-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG2\_YOFF** (FLOAT) | Magnetometer 2 Y-axis offset | | 0.0 | gauss | | **CAL\_MAG2\_YSCALE** (FLOAT) | Magnetometer 2 Y-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG2\_ZCOMP** (FLOAT) |Magnetometer 2 Z Axis throttle compensation
Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG2\_ZODIAG** (FLOAT) | Magnetometer 2 Z-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG2\_ZOFF** (FLOAT) | Magnetometer 2 Z-axis offset | | 0.0 | gauss | | **CAL\_MAG2\_ZSCALE** (FLOAT) | Magnetometer 2 Z-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG3\_ID** (INT32) |Magnetometer 3 calibration device ID
Comment: Device ID of the magnetometer this calibration applies to.
| | 0 | | | **CAL\_MAG3\_PITCH** (FLOAT) |Magnetometer 3 Custom Euler Pitch Angle
Comment: Setting this parameter changes CAL\_MAG3\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG3\_PRIO** (INT32) |Magnetometer 3 priority Values:
Magnetometer 3 Custom Euler Roll Angle
Comment: Setting this parameter changes CAL\_MAG3\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG3\_ROT** (INT32) |Magnetometer 3 rotation relative to airframe
Comment: An internal sensor 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. Set to "Custom Euler Angle" to define the rotation using CAL\_MAG3\_ROLL, CAL\_MAG3\_PITCH and CAL\_MAG3\_YAW.
Values:
Magnetometer 3 X Axis throttle compensation
Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG3\_XODIAG** (FLOAT) | Magnetometer 3 X-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG3\_XOFF** (FLOAT) | Magnetometer 3 X-axis offset | | 0.0 | gauss | | **CAL\_MAG3\_XSCALE** (FLOAT) | Magnetometer 3 X-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG3\_YAW** (FLOAT) |Magnetometer 3 Custom Euler Yaw Angle
Comment: Setting this parameter changes CAL\_MAG3\_ROT to "Custom Euler Angle"
| \[-180, 180] | 0.0 | deg | | **CAL\_MAG3\_YCOMP** (FLOAT) |Magnetometer 3 Y Axis throttle compensation
Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG3\_YODIAG** (FLOAT) | Magnetometer 3 Y-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG3\_YOFF** (FLOAT) | Magnetometer 3 Y-axis offset | | 0.0 | gauss | | **CAL\_MAG3\_YSCALE** (FLOAT) | Magnetometer 3 Y-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG3\_ZCOMP** (FLOAT) |Magnetometer 3 Z Axis throttle compensation
Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL\_MAG\_COMP\_TYP. Unit for throttle-based compensation is \[G] and for current-based compensation \[G/kA]
| | 0.0 | | | **CAL\_MAG3\_ZODIAG** (FLOAT) | Magnetometer 3 Z-axis off diagonal scale factor | | 0.0 | | | **CAL\_MAG3\_ZOFF** (FLOAT) | Magnetometer 3 Z-axis offset | | 0.0 | gauss | | **CAL\_MAG3\_ZSCALE** (FLOAT) | Magnetometer 3 Z-axis scaling factor | \[0.1, 3.0] | 1.0 | | | **CAL\_MAG\_COMP\_TYP** (INT32) |Type of magnetometer compensation Values:
Differential pressure sensor analog scaling
Comment: 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.
| | 0 | | | **SENS\_DPRES\_OFF** (FLOAT) |Differential pressure sensor offset
Comment: The offset (zero-reading) in Pascal
| | 0.0 | | | **SENS\_FLOW\_MAXHGT** (FLOAT) |Maximum height above ground when reliant on optical flow
Comment: This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.
| \[1.0, 100.0] (0.1) | 100. | m | | **SENS\_FLOW\_MAXR** (FLOAT) |Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor
Comment: Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.
| \[1.0, ?] | 8. | rad/s | | **SENS\_FLOW\_MINHGT** (FLOAT) |Minimum height above ground when reliant on optical flow
Comment: This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
| \[0.0, 1.0] (0.1) | 0.08 | m | ## Sensors | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------- | ------------ | ------- | | **ADC\_ADS1115\_EN** (INT32) |Enable external ADS1115 ADC
Comment: If enabled, the internal ADC is not used.
Reboot required: true
| | Disabled (0) | | | **BAT1\_C\_MULT** (FLOAT) |Capacity/current multiplier for high-current capable SMBUS battery
Reboot required: true
| | 1.0 | | | **BAT1\_SMBUS\_MODEL** (INT32) |Battery device model Values:
Reboot required: true
| \[0, 2] | 0 | | | **BATMON\_ADDR\_DFLT** (INT32) |I2C address for BatMon battery 1
Reboot required: true
| | 11 | | | **BATMON\_DRIVER\_EN** (INT32) |Parameter to enable BatMon module Values:
Reboot required: true
| \[0, 2] | 0 | | | **CAL\_AIR\_CMODEL** (INT32) |Airspeed sensor compensation model for the SDP3x
Comment: Model with Pitot CAL\_AIR\_TUBED\_MM: Not used, 1.5 mm tubes assumed. CAL\_AIR\_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL\_AIR\_TUBED\_MM: Not used, 1.5 mm tubes assumed. CAL\_AIR\_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL\_AIR\_TUBED\_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL\_AIR\_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
Values:
Airspeed sensor tube length
Comment: See the CAL\_AIR\_CMODEL explanation on how this parameter should be set.
| \[0.01, 2.00] | 0.2 | m | | **CAL\_MAG\_SIDES** (INT32) |For legacy QGC support only
Comment: Use SENS\_MAG\_SIDES instead
| | 63 | | | **IMU\_ACCEL\_CUTOFF** (FLOAT) |Low pass filter cutoff frequency for accel
Comment: The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
Reboot required: true
| \[0, 1000] | 30.0 | Hz | | **IMU\_DGYRO\_CUTOFF** (FLOAT) |Cutoff frequency for angular acceleration (D-Term filter)
Comment: The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU\_GYRO\_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.
Reboot required: true
| \[0, 1000] | 30.0 | Hz | | **IMU\_GYRO\_CAL\_EN** (INT32) |IMU gyro auto calibration enable
Reboot required: true
| | Enabled (1) | | | **IMU\_GYRO\_CUTOFF** (FLOAT) |Low pass filter cutoff frequency for gyro
Comment: The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU\_DGYRO\_CUTOFF. A value of 0 disables the filter.
Reboot required: true
| \[0, 1000] | 40.0 | Hz | | **IMU\_GYRO\_DNF\_BW** (FLOAT) |IMU gyro ESC notch filter bandwidth
Comment: Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.
| \[5, 30] | 15. | Hz | | **IMU\_GYRO\_DNF\_EN** (INT32) |IMU gyro dynamic notch filtering
Comment: Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU\_GYRO\_FFT\_EN).
Bitmask:
IMU gyro dynamic notch filter harmonics
Comment: ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.
| \[1, 7] | 3 | | | **IMU\_GYRO\_DNF\_MIN** (FLOAT) |IMU gyro dynamic notch filter minimum frequency
Comment: Minimum notch filter frequency in Hz.
| | 25. | Hz | | **IMU\_GYRO\_FFT\_EN** (INT32) |IMU gyro FFT enable
Reboot required: true
| | Disabled (0) | | | **IMU\_GYRO\_FFT\_LEN** (INT32) |IMU gyro FFT length Values:
Reboot required: true
| | 512 | Hz | | **IMU\_GYRO\_FFT\_MAX** (FLOAT) |IMU gyro FFT maximum frequency
Reboot required: true
| \[1, 1000] | 150. | Hz | | **IMU\_GYRO\_FFT\_MIN** (FLOAT) |IMU gyro FFT minimum frequency
Reboot required: true
| \[1, 1000] | 30. | Hz | | **IMU\_GYRO\_FFT\_SNR** (FLOAT) | IMU gyro FFT SNR | \[1, 30] | 10. | | | **IMU\_GYRO\_NF0\_BW** (FLOAT) |Notch filter bandwidth for gyro
Comment: The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU\_GYRO\_NF0\_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.
Reboot required: true
| \[0, 100] | 20.0 | Hz | | **IMU\_GYRO\_NF0\_FRQ** (FLOAT) |Notch filter frequency for gyro
Comment: The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU\_GYRO\_NF0\_BW" to set the bandwidth of the filter. A value of 0 disables the filter.
Reboot required: true
| \[0, 1000] | 0.0 | Hz | | **IMU\_GYRO\_NF1\_BW** (FLOAT) |Notch filter 1 bandwidth for gyro
Comment: The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU\_GYRO\_NF1\_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.
Reboot required: true
| \[0, 100] | 20.0 | Hz | | **IMU\_GYRO\_NF1\_FRQ** (FLOAT) |Notch filter 2 frequency for gyro
Comment: The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU\_GYRO\_NF1\_BW" to set the bandwidth of the filter. A value of 0 disables the filter.
Reboot required: true
| \[0, 1000] | 0.0 | Hz | | **IMU\_GYRO\_RATEMAX** (INT32) |Gyro control data maximum publication rate (inner loop rate)
Comment: The maximum rate the gyro control data (vehicle\_angular\_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.
Values:
Reboot required: true
| \[100, 2000] | 400 | Hz | | **IMU\_INTEG\_RATE** (INT32) |IMU integration rate
Comment: The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).
Values:
Reboot required: true
| \[100, 1000] | 200 | Hz | | **INA220\_CONFIG** (INT32) | INA220 Power Monitor Config | \[0, 65535] (1) | 8607 | | | **INA220\_CUR\_BAT** (FLOAT) | INA220 Power Monitor Battery Max Current | \[0.1, 500.0] (0.1) | 164.0 | | | **INA220\_CUR\_REG** (FLOAT) | INA220 Power Monitor Regulator Max Current | \[0.1, 500.0] (0.1) | 164.0 | | | **INA220\_SHUNT\_BAT** (FLOAT) | INA220 Power Monitor Battery Shunt | \[0.000000001, 0.1] (.000000001) | 0.0005 | | | **INA220\_SHUNT\_REG** (FLOAT) | INA220 Power Monitor Regulator Shunt | \[0.000000001, 0.1] (.000000001) | 0.0005 | | | **INA226\_CONFIG** (INT32) | INA226 Power Monitor Config | \[0, 65535] (1) | 18139 | | | **INA226\_CURRENT** (FLOAT) | INA226 Power Monitor Max Current | \[0.1, 200.0] (0.1) | 164.0 | | | **INA226\_SHUNT** (FLOAT) | INA226 Power Monitor Shunt | \[0.000000001, 0.1] (.000000001) | 0.0005 | | | **INA228\_CONFIG** (INT32) | INA228 Power Monitor Config | \[0, 65535] (1) | 63779 | | | **INA228\_CURRENT** (FLOAT) | INA228 Power Monitor Max Current | \[0.1, 327.68] (0.1) | 327.68 | | | **INA228\_SHUNT** (FLOAT) | INA228 Power Monitor Shunt | \[0.000000001, 0.1] (.000000001) | 0.0005 | | | **INA238\_CURRENT** (FLOAT) | INA238 Power Monitor Max Current | \[0.1, 327.68] (0.1) | 327.68 | | | **INA238\_SHUNT** (FLOAT) | INA238 Power Monitor Shunt | \[0.000000001, 0.1] (.000000001) | 0.0003 | | | **PCF8583\_MAGNET** (INT32) |PCF8583 rotorfreq (i2c) pulse count
Comment: Nmumber of signals per rotation of actuator
Reboot required: true
| \[1, ?] | 2 | | | **PCF8583\_POOL** (INT32) |PCF8583 rotorfreq (i2c) pool interval
Comment: Determines how often the sensor is read out.
Reboot required: true
| | 1000000 | us | | **PCF8583\_RESET** (INT32) |PCF8583 rotorfreq (i2c) pulse reset value
Comment: Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.
Reboot required: true
| | 500000 | | | **SENS\_AFBR\_HYSTER** (INT32) |AFBR Rangefinder Short/Long Range Threshold Hysteresis
Comment: This parameter defines the hysteresis for switching between short and long range mode.
| \[1, 10] | 1 | m | | **SENS\_AFBR\_L\_RATE** (INT32) |AFBR Rangefinder Long Range Rate
Comment: This parameter defines measurement rate of the AFBR Rangefinder in long range mode.
| \[1, 100] | 25 | | | **SENS\_AFBR\_MODE** (INT32) |AFBR Rangefinder Mode
Comment: This parameter defines the mode of the AFBR Rangefinder.
Values:
Reboot required: true
| \[0, 3] | 1 | | | **SENS\_AFBR\_S\_RATE** (INT32) |AFBR Rangefinder Short Range Rate
Comment: This parameter defines measurement rate of the AFBR Rangefinder in short range mode.
| \[1, 100] | 50 | | | **SENS\_AFBR\_THRESH** (INT32) |AFBR Rangefinder Short/Long Range Threshold
Comment: This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.
| \[1, 50] | 5 | m | | **SENS\_BARO\_QNH** (FLOAT) | QNH for barometer | \[500, 1500] | 1013.25 | hPa | | **SENS\_BARO\_RATE** (FLOAT) |Baro max rate
Comment: Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.
| \[1, 200] | 20.0 | Hz | | **SENS\_BOARD\_ROT** (INT32) |Board rotation
Comment: This parameter defines the rotation of the FMU board relative to the platform.
Values:
Reboot required: true
| \[-1, 40] | 0 | | | **SENS\_BOARD\_X\_OFF** (FLOAT) |Board rotation X (Roll) offset
Comment: This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.
| | 0.0 | deg | | **SENS\_BOARD\_Y\_OFF** (FLOAT) |Board rotation Y (Pitch) offset
Comment: This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.
| | 0.0 | deg | | **SENS\_BOARD\_Z\_OFF** (FLOAT) |Board rotation Z (YAW) offset
Comment: This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.
| | 0.0 | deg | | **SENS\_CM8JL65\_CFG** (INT32) |Serial Configuration for Lanbao PSK-CM8JL65-CC5
Comment: Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.
Values:
Reboot required: true
| | 0 | | | **SENS\_CM8JL65\_R\_0** (INT32) |Distance Sensor Rotation
Comment: Distance Sensor Rotation as MAV\_SENSOR\_ORIENTATION enum
Values:
Reboot required: True
| | 25 | | | **SENS\_EN\_ADIS164X** (INT32) |Analog Devices ADIS16448 IMU (external SPI) Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_ADIS165X** (INT32) |Analog Devices ADIS16507 IMU (external SPI)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_ARSPDSIM** (INT32) |Enable simulated airspeed sensor instance Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_ASP5033** (INT32) |ASP5033 differential pressure sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_BAROSIM** (INT32) |Enable simulated barometer sensor instance Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_BATT** (INT32) |SMBUS Smart battery driver BQ40Z50 and BQ40Z80
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_ETSASPD** (INT32) |Eagle Tree airspeed sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_GPSSIM** (INT32) |Enable simulated GPS sinstance Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_INA220** (INT32) |Enable INA220 Power Monitor
Comment: For systems a INA220 Power Monitor, this should be set to true
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_INA226** (INT32) |Enable INA226 Power Monitor
Comment: For systems a INA226 Power Monitor, this should be set to true
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_INA228** (INT32) |Enable INA228 Power Monitor
Comment: For systems a INA228 Power Monitor, this should be set to true
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_INA238** (INT32) |Enable INA238 Power Monitor
Comment: For systems a INA238 Power Monitor, this should be set to true
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_IRLOCK** (INT32) |IR-LOCK Sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_LL40LS** (INT32) |Lidar-Lite (LL40LS) Values:
Reboot required: true
| \[0, 2] | 0 | | | **SENS\_EN\_MAGSIM** (INT32) |Enable simulated magnetometer sensor instance Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_MB12XX** (INT32) |Maxbotix Sonar (mb12xx)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_MPDT** (INT32) |Enable Mappydot rangefinder (i2c) Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_MS4515** (INT32) |TE MS4515 differential pressure sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_MS4525DO** (INT32) |TE MS4525DO differential pressure sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_MS5525DS** (INT32) |TE MS5525DSO differential pressure sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_PAA3905** (INT32) |PAA3905 Optical Flow
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_PAW3902** (INT32) |PAW3902/PAW3903 Optical Flow
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_PCF8583** (INT32) |PCF8583 eneable driver
Comment: Run PCF8583 driver automatically
Values:
Reboot required: true
| \[0, 1] | 0 | | | **SENS\_EN\_PGA460** (INT32) |PGA460 Ultrasonic driver (PGA460)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_PMW3901** (INT32) |PMW3901 Optical Flow
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_PX4FLOW** (INT32) |PX4 Flow Optical Flow
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_SDP3X** (INT32) |Sensirion SDP3X differential pressure sensor (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_SF0X** (INT32) |Lightware Laser Rangefinder hardware model (serial) Values:
Reboot required: true
| | 1 | | | **SENS\_EN\_SF1XX** (INT32) |Lightware SF1xx/SF20/LW20 laser rangefinder (i2c) Values:
Reboot required: true
| \[0, 6] | 0 | | | **SENS\_EN\_SF45\_CFG** (INT32) |Serial Configuration for Lightware SF45 Rangefinder (serial)
Comment: Configure on which serial port to run Lightware SF45 Rangefinder (serial).
Values:
Reboot required: true
| | 102 | | | **SENS\_EN\_SHT3X** (INT32) |SHT3x temperature and hygrometer
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_SPL06** (INT32) |Goertek SPL06 Barometer (external I2C)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_SR05** (INT32) |HY-SRF05 / HC-SR05
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_TF02PRO** (INT32) |TF02 Pro Distance Sensor (i2c)
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_THERMAL** (INT32) |Thermal control of sensor temperature Values:
TeraRanger Rangefinder (i2c) Values:
Reboot required: true
| \[0, 3] | 0 | | | **SENS\_EN\_VL53L0X** (INT32) |VL53L0X Distance Sensor
Reboot required: true
| | Disabled (0) | | | **SENS\_EN\_VL53L1X** (INT32) |VL53L1X Distance Sensor
Reboot required: true
| | Disabled (0) | | | **SENS\_EXT\_I2C\_PRB** (INT32) |External I2C probe
Comment: Probe for optional external I2C devices.
| | Enabled (1) | | | **SENS\_FLOW\_RATE** (FLOAT) |Optical flow max rate
Comment: Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.
Reboot required: true
| \[1, 200] | 70.0 | Hz | | **SENS\_FLOW\_ROT** (INT32) |Optical flow rotation
Comment: This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.
Values:
Multi GPS Blending Control Mask
Comment: Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy
Bitmask:
Multi GPS primary instance
Comment: When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.
| \[-1, 1] | 0 | | | **SENS\_GPS\_TAU** (FLOAT) |Multi GPS Blending Time Constant
Comment: Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.
| \[1.0, 100.0] | 10.0 | s | | **SENS\_IMU\_AUTOCAL** (INT32) |IMU auto calibration
Comment: Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.
| | Enabled (1) | | | **SENS\_IMU\_MODE** (INT32) |Sensors hub IMU mode Values:
Reboot required: true
| | 1 | | | **SENS\_IMU\_TEMP** (FLOAT) | Target IMU temperature | \[0, 85.0] | 55.0 | celcius | | **SENS\_IMU\_TEMP\_FF** (FLOAT) | IMU heater controller feedforward value | \[0, 1.0] | 0.05 | % | | **SENS\_IMU\_TEMP\_I** (FLOAT) | IMU heater controller integrator gain value | \[0, 1.0] | 0.025 | us/C | | **SENS\_IMU\_TEMP\_P** (FLOAT) | IMU heater controller proportional gain value | \[0, 2.0] | 1.0 | us/C | | **SENS\_INT\_BARO\_EN** (INT32) |Enable internal barometers
Comment: For systems with an external barometer, this should be set to false to make sure that the external is used.
Reboot required: true
| | Enabled (1) | | | **SENS\_LEDDAR1\_CFG** (INT32) |Serial Configuration for LeddarOne Rangefinder
Comment: Configure on which serial port to run LeddarOne Rangefinder.
Values:
Reboot required: true
| | 0 | | | **SENS\_MAG\_AUTOCAL** (INT32) |Magnetometer auto calibration
Comment: Automatically initialize magnetometer calibration from bias estimate if available.
| | Enabled (1) | | | **SENS\_MAG\_AUTOROT** (INT32) |Automatically set external rotations
Comment: During calibration attempt to automatically determine the rotation of external magnetometers.
| | Enabled (1) | | | **SENS\_MAG\_MODE** (INT32) |Sensors hub mag mode Values:
Reboot required: true
| | 1 | | | **SENS\_MAG\_RATE** (FLOAT) |Magnetometer max rate
Comment: Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.
Reboot required: true
| \[1, 200] | 15.0 | Hz | | **SENS\_MAG\_SIDES** (INT32) |Bitfield selecting mag sides for calibration
Comment: If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION\_TAIL\_DOWN = 1 ORIENTATION\_NOSE\_DOWN = 2 ORIENTATION\_LEFT = 4 ORIENTATION\_RIGHT = 8 ORIENTATION\_UPSIDE\_DOWN = 16 ORIENTATION\_RIGHTSIDE\_UP = 32
Values:
MaxBotix MB12XX Sensor 0 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_10\_ROT** (INT32) |MaxBotix MB12XX Sensor 10 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_11\_ROT** (INT32) |MaxBotix MB12XX Sensor 12 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_1\_ROT** (INT32) |MaxBotix MB12XX Sensor 1 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_2\_ROT** (INT32) |MaxBotix MB12XX Sensor 2 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_3\_ROT** (INT32) |MaxBotix MB12XX Sensor 3 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_4\_ROT** (INT32) |MaxBotix MB12XX Sensor 4 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_5\_ROT** (INT32) |MaxBotix MB12XX Sensor 5 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_6\_ROT** (INT32) |MaxBotix MB12XX Sensor 6 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_7\_ROT** (INT32) |MaxBotix MB12XX Sensor 7 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_8\_ROT** (INT32) |MaxBotix MB12XX Sensor 8 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MB12\_9\_ROT** (INT32) |MaxBotix MB12XX Sensor 9 Rotation
Comment: This parameter defines the rotation of the sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT0\_ROT** (INT32) |MappyDot Sensor 0 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT10\_ROT** (INT32) |MappyDot Sensor 10 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT11\_ROT** (INT32) |MappyDot Sensor 12 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT1\_ROT** (INT32) |MappyDot Sensor 1 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT2\_ROT** (INT32) |MappyDot Sensor 2 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT3\_ROT** (INT32) |MappyDot Sensor 3 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT4\_ROT** (INT32) |MappyDot Sensor 4 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT5\_ROT** (INT32) |MappyDot Sensor 5 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT6\_ROT** (INT32) |MappyDot Sensor 6 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT7\_ROT** (INT32) |MappyDot Sensor 7 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT8\_ROT** (INT32) |MappyDot Sensor 8 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_MPDT9\_ROT** (INT32) |MappyDot Sensor 9 Rotation
Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.
Values:
Reboot required: true
| \[0, 7] | 0 | | | **SENS\_OR\_ADIS164X** (INT32) |Analog Devices ADIS16448 IMU Orientation(external SPI) Values:
Reboot required: true
| \[0, 101] | 0 | | | **SENS\_SF0X\_CFG** (INT32) |Serial Configuration for Lightware Laser Rangefinder (serial)
Comment: Configure on which serial port to run Lightware Laser Rangefinder (serial).
Values:
Reboot required: true
| | 0 | | | **SENS\_TEMP\_ID** (INT32) | Target IMU device ID to regulate temperature | | 0 | | | **SENS\_TFLOW\_CFG** (INT32) |Serial Configuration for ThoneFlow-3901U optical flow sensor
Comment: Configure on which serial port to run ThoneFlow-3901U optical flow sensor.
Values:
Reboot required: true
| | 0 | | | **SENS\_TFMINI\_CFG** (INT32) |Serial Configuration for Benewake TFmini Rangefinder
Comment: Configure on which serial port to run Benewake TFmini Rangefinder.
Values:
Reboot required: true
| | 0 | | | **SENS\_ULAND\_CFG** (INT32) |Serial Configuration for uLanding Radar
Comment: Configure on which serial port to run uLanding Radar.
Values:
Reboot required: true
| | 0 | | | **SENS\_VN\_CFG** (INT32) |Serial Configuration for VectorNav (VN-100, VN-200, VN-300)
Comment: Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).
Values:
Reboot required: true
| | 0 | | | **SF45\_ORIENT\_CFG** (INT32) |Orientation upright or facing downward
Comment: The SF45 mounted facing upward or downward on the frame
Values:
Reboot required: True
| | 0 | | | **SF45\_UPDATE\_CFG** (INT32) |Update rate in Hz
Comment: The SF45 sets the update rate in Hz to allow greater resolution
Values:
Reboot required: True
| | 1 | | | **SF45\_YAW\_CFG** (INT32) |Sensor facing forward or backward
Comment: The usb port on the sensor indicates 180deg, opposite usb is forward facing
Values:
Reboot required: True
| | 0 | | | **SIM\_ARSPD\_FAIL** (INT32) |Dynamically simulate failure of airspeed sensor instance Values:
Reboot required: true
| \[0, 1] | 0 | | | **VN\_MODE** (INT32) |VectorNav driver mode
Comment: INS or sensors
Values:
VOXL Power Monitor Shunt, Battery
Reboot required: true
| \[0.000000001, 0.1] (.000000001) | 0.00063 | | | **VOXLPM\_SHUNT\_REG** (FLOAT) |VOXL Power Monitor Shunt, Regulator
Reboot required: true
| \[0.000000001, 0.1] (.000000001) | 0.0056 | | ## Serial | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **RC\_CRSF\_PRT\_CFG** (INT32) |Serial Configuration for CRSF RC Input Driver
Comment: Configure on which serial port to run CRSF RC Input Driver. Crossfire RC (CRSF) driver.
Values:
Reboot required: true
| | 0 | | | **RC\_PORT\_CONFIG** (INT32) |Serial Configuration for RC Input Driver
Comment: Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.
Values:
Reboot required: true
| | 300 | | | **SER\_EXT2\_BAUD** (INT32) |Baudrate for the EXT2 Serial Port
Comment: Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 57600 | | | **SER\_GPS1\_BAUD** (INT32) |Baudrate for the GPS 1 Serial Port
Comment: Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 0 | | | **SER\_GPS2\_BAUD** (INT32) |Baudrate for the GPS 2 Serial Port
Comment: Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 0 | | | **SER\_GPS3\_BAUD** (INT32) |Baudrate for the GPS 3 Serial Port
Comment: Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 0 | | | **SER\_MXS\_BAUD** (INT32) |MXS Serial Communication Baud rate
Comment: Baudrate for the Serial Port connected to the MXS Transponder
Values:
Reboot required: true
| \[0, 10] | 5 | | | **SER\_RC\_BAUD** (INT32) |Baudrate for the Radio Controller Serial Port
Comment: Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 0 | | | **SER\_TEL1\_BAUD** (INT32) |Baudrate for the TELEM 1 Serial Port
Comment: Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 57600 | | | **SER\_TEL2\_BAUD** (INT32) |Baudrate for the TELEM 2 Serial Port
Comment: Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 921600 | | | **SER\_TEL3\_BAUD** (INT32) |Baudrate for the TELEM 3 Serial Port
Comment: Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 57600 | | | **SER\_TEL4\_BAUD** (INT32) |Baudrate for the TELEM/SERIAL 4 Serial Port
Comment: Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 57600 | | | **SER\_URT6\_BAUD** (INT32) |Baudrate for the UART 6 Serial Port
Comment: Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 57600 | | | **SER\_WIFI\_BAUD** (INT32) |Baudrate for the Wifi Port Serial Port
Comment: Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
Values:
Reboot required: true
| | 1 | | ## Simulation In Hardware | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------- | ---------- | ---------- | | **SIH\_DISTSNSR\_MAX** (FLOAT) | distance sensor maximum range | \[0.0, 1000.0] (0.01) | 100.0 | m | | **SIH\_DISTSNSR\_MIN** (FLOAT) | distance sensor minimum range | \[0.0, 10.0] (0.01) | 0.0 | m | | **SIH\_DISTSNSR\_OVR** (FLOAT) |if >= 0 the distance sensor measures will be overridden by this value
Comment: Absolute value superior to 10000 will disable distance sensor
| | -1.0 | m | | **SIH\_IXX** (FLOAT) |Vehicle inertia about X axis
Comment: The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
| \[0.0, ?] (0.005) | 0.025 | kg m^2 | | **SIH\_IXY** (FLOAT) |Vehicle cross term inertia xy
Comment: The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
| (0.005) | 0.0 | kg m^2 | | **SIH\_IXZ** (FLOAT) |Vehicle cross term inertia xz
Comment: The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
| (0.005) | 0.0 | kg m^2 | | **SIH\_IYY** (FLOAT) |Vehicle inertia about Y axis
Comment: The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
| \[0.0, ?] (0.005) | 0.025 | kg m^2 | | **SIH\_IYZ** (FLOAT) |Vehicle cross term inertia yz
Comment: The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
| (0.005) | 0.0 | kg m^2 | | **SIH\_IZZ** (FLOAT) |Vehicle inertia about Z axis
Comment: The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
| \[0.0, ?] (0.005) | 0.030 | kg m^2 | | **SIH\_KDV** (FLOAT) |First order drag coefficient
Comment: Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV \[m/s]
| \[0.0, ?] (0.05) | 1.0 | N/(m/s) | | **SIH\_KDW** (FLOAT) |First order angular damper coefficient
Comment: Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW\*W\_B. This value can be set to 0 if unknown.
| \[0.0, ?] (0.005) | 0.025 | Nm/(rad/s) | | **SIH\_LOC\_H0** (FLOAT) |Initial AMSL ground altitude
Comment: This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU\_X, MU\_Y, and MU\_Z should ideally be consistent among each others to represent a physical ground location on Earth.
| \[-420.0, 8848.0] (0.01) | 32.34 | m | | **SIH\_LOC\_LAT0** (INT32) |Initial geodetic latitude
Comment: This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU\_X, MU\_Y, and MU\_Z should ideally be consistent among each others to represent a physical ground location on Earth.
| \[-850000000, 850000000] | 454671160 | deg\*1e7 | | **SIH\_LOC\_LON0** (INT32) |Initial geodetic longitude
Comment: This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU\_X, MU\_Y, and MU\_Z should ideally be consistent among each others to represent a physical ground location on Earth.
| \[-1800000000, 1800000000] | -737578370 | deg\*1e7 | | **SIH\_L\_PITCH** (FLOAT) |Pitch arm length
Comment: This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.
| \[0.0, ?] (0.05) | 0.2 | m | | **SIH\_L\_ROLL** (FLOAT) |Roll arm length
Comment: This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.
| \[0.0, ?] (0.05) | 0.2 | m | | **SIH\_MASS** (FLOAT) |Vehicle mass
Comment: This value can be measured by weighting the quad on a scale.
| \[0.0, ?] (0.1) | 1.0 | kg | | **SIH\_Q\_MAX** (FLOAT) |Max propeller torque
Comment: This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.
| \[0.0, ?] (0.05) | 0.1 | Nm | | **SIH\_T\_MAX** (FLOAT) |Max propeller thrust force
Comment: This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.
| \[0.0, ?] (0.5) | 5.0 | N | | **SIH\_T\_TAU** (FLOAT) |thruster time constant tau
Comment: the time taken for the thruster to step from 0 to 100% should be about 4 times tau
| | 0.05 | s | | **SIH\_VEHICLE\_TYPE** (INT32) |Vehicle type Values:
Reboot required: true
| | 0 | | ## Simulator | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | --------------------------------------- | ------------------- | --------- | ------- | | **SIM\_BARO\_OFF\_P** (FLOAT) | simulated barometer pressure offset | | 0.0 | | | **SIM\_BARO\_OFF\_T** (FLOAT) | simulated barometer temperature offset | | 0.0 | celcius | | **SIM\_GPS\_USED** (INT32) | simulated GPS number of satellites used | \[0, 50] | 10 | | | **SIM\_GZ\_HOME\_ALT** (FLOAT) | simulator origin altitude | | 488.0 | m | | **SIM\_GZ\_HOME\_LAT** (FLOAT) | simulator origin latitude | | 47.397742 | deg | | **SIM\_GZ\_HOME\_LON** (FLOAT) | simulator origin longitude | | 8.545594 | deg | | **SIM\_MAG\_OFFSET\_X** (FLOAT) | simulated magnetometer X offset | | 0.0 | gauss | | **SIM\_MAG\_OFFSET\_Y** (FLOAT) | simulated magnetometer Y offset | | 0.0 | gauss | | **SIM\_MAG\_OFFSET\_Z** (FLOAT) | simulated magnetometer Z offset | | 0.0 | gauss | ## System | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ------- | | **SYS\_AUTOCONFIG** (INT32) |Automatically configure default values
Comment: Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC\* parameters are preserved.
Values:
Auto-start script index
Comment: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.
Reboot required: true
| \[0, 9999999] | 0 | | | **SYS\_BL\_UPDATE** (INT32) |Bootloader update
Comment: If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card
Reboot required: true
| | Disabled (0) | | | **SYS\_CAL\_ACCEL** (INT32) |Enable auto start of accelerometer thermal calibration at the next power up
Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)
| \[0, 1] | 0 | | | **SYS\_CAL\_BARO** (INT32) |Enable auto start of barometer thermal calibration at the next power up
Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)
| \[0, 1] | 0 | | | **SYS\_CAL\_GYRO** (INT32) |Enable auto start of rate gyro thermal calibration at the next power up
Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)
| \[0, 1] | 0 | | | **SYS\_CAL\_TDEL** (INT32) |Required temperature rise during thermal calibration
Comment: A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS\_CAL\_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
| \[10, ?] | 24 | celcius | | **SYS\_CAL\_TMAX** (INT32) |Maximum starting temperature for thermal calibration
Comment: Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS\_CAL\_TMAX.
| | 10 | celcius | | **SYS\_CAL\_TMIN** (INT32) |Minimum starting temperature for thermal calibration
Comment: Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS\_CAL\_TMIN.
| | 5 | celcius | | **SYS\_DM\_BACKEND** (INT32) |Dataman storage backend Values:
Reboot required: true
| | Disabled (0) | | | **SYS\_FAC\_CAL\_MODE** (INT32) |Enable factory calibration mode
Comment: If enabled, future sensor calibrations will be stored to /fs/mtd\_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd\_caldata.
Values:
Enable failure injection
Comment: If enabled allows MAVLink INJECT\_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!
| | Disabled (0) | | | **SYS\_HAS\_BARO** (INT32) |Control if the vehicle has a barometer
Comment: Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.
Reboot required: true
| | Enabled (1) | | | **SYS\_HAS\_GPS** (INT32) |Control if the vehicle has a GPS
Comment: Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor\_gps, and GPS will not be available for the rest of the system.
Reboot required: true
| | Enabled (1) | | | **SYS\_HAS\_MAG** (INT32) |Control if the vehicle has a magnetometer
Comment: Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.
Reboot required: true
| | 1 | | | **SYS\_HAS\_NUM\_DIST** (INT32) |Number of distance sensors to check being available
Comment: The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.
| \[0, 4] | 0 | | | **SYS\_HITL** (INT32) |Enable HITL/SIH mode on next boot
Comment: While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).
Values:
Reboot required: true
| | 0 | | | **SYS\_MC\_EST\_GROUP** (INT32) |Set multicopter estimator group
Comment: Set the group of estimators used for multicopters and VTOLs
Values:
Reboot required: true
| | 2 | | | **SYS\_RGB\_MAXBRT** (FLOAT) |RGB Led brightness limit
Comment: Set to 0 to disable, 1 for maximum brightness
| | 1. | % | | **SYS\_STCK\_EN** (INT32) | Enable stack checking | | Enabled (1) | | | **SYS\_USE\_IO** (INT32) |Set usage of IO board
Comment: Can be used to use a configure the use of the IO board.
Values:
Reboot required: true
| | 0 | | ## Telemetry | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **TEL\_BST\_EN** (INT32) |Blacksheep telemetry Enable
Comment: If true, the FMU will try to connect to Blacksheep telemetry on start up
Reboot required: true
| | Disabled (0) | | | **TEL\_FRSKY\_CONFIG** (INT32) |Serial Configuration for FrSky Telemetry
Comment: Configure on which serial port to run FrSky Telemetry.
Values:
Reboot required: true
| | 0 | | | **TEL\_HOTT\_CONFIG** (INT32) |Serial Configuration for HoTT Telemetry
Comment: Configure on which serial port to run HoTT Telemetry.
Values:
Reboot required: true
| | 0 | | ## Testing | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------ | ----------- | ------------------- | -------- | ----- | | **TEST\_1** (INT32) | | | 2 | | | **TEST\_2** (INT32) | | | 4 | | | **TEST\_3** (FLOAT) | | | 5.0 | | | **TEST\_D** (FLOAT) | | | 0.01 | | | **TEST\_DEV** (FLOAT) | | | 2.0 | | | **TEST\_D\_LP** (FLOAT) | | | 10.0 | | | **TEST\_HP** (FLOAT) | | | 10.0 | | | **TEST\_I** (FLOAT) | | | 0.1 | | | **TEST\_I\_MAX** (FLOAT) | | | 1.0 | | | **TEST\_LP** (FLOAT) | | | 10.0 | | | **TEST\_MAX** (FLOAT) | | | 1.0 | | | **TEST\_MEAN** (FLOAT) | | | 1.0 | | | **TEST\_MIN** (FLOAT) | | | -1.0 | | | **TEST\_P** (FLOAT) | | | 0.2 | | | **TEST\_PARAMS** (INT32) | | | 12345678 | | | **TEST\_RC2\_X** (INT32) | | | 16 | | | **TEST\_RC\_X** (INT32) | | | 8 | | | **TEST\_TRIM** (FLOAT) | | | 0.5 | | ## Thermal Compensation | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------- | --------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **TC\_A0\_ID** (INT32) | ID of Accelerometer that the calibration is for | | 0 | | | **TC\_A0\_TMAX** (FLOAT) | Accelerometer calibration maximum temperature | | 100.0 | | | **TC\_A0\_TMIN** (FLOAT) | Accelerometer calibration minimum temperature | | 0.0 | | | **TC\_A0\_TREF** (FLOAT) | Accelerometer calibration reference temperature | | 25.0 | | | **TC\_A0\_X0\_0** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_A0\_X0\_1** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A0\_X0\_2** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A0\_X1\_0** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_A0\_X1\_1** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A0\_X1\_2** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A0\_X2\_0** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_A0\_X2\_1** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A0\_X2\_2** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A0\_X3\_0** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_A0\_X3\_1** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A0\_X3\_2** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A1\_ID** (INT32) | ID of Accelerometer that the calibration is for | | 0 | | | **TC\_A1\_TMAX** (FLOAT) | Accelerometer calibration maximum temperature | | 100.0 | | | **TC\_A1\_TMIN** (FLOAT) | Accelerometer calibration minimum temperature | | 0.0 | | | **TC\_A1\_TREF** (FLOAT) | Accelerometer calibration reference temperature | | 25.0 | | | **TC\_A1\_X0\_0** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_A1\_X0\_1** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A1\_X0\_2** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A1\_X1\_0** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_A1\_X1\_1** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A1\_X1\_2** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A1\_X2\_0** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_A1\_X2\_1** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A1\_X2\_2** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A1\_X3\_0** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_A1\_X3\_1** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A1\_X3\_2** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A2\_ID** (INT32) | ID of Accelerometer that the calibration is for | | 0 | | | **TC\_A2\_TMAX** (FLOAT) | Accelerometer calibration maximum temperature | | 100.0 | | | **TC\_A2\_TMIN** (FLOAT) | Accelerometer calibration minimum temperature | | 0.0 | | | **TC\_A2\_TREF** (FLOAT) | Accelerometer calibration reference temperature | | 25.0 | | | **TC\_A2\_X0\_0** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_A2\_X0\_1** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A2\_X0\_2** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A2\_X1\_0** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_A2\_X1\_1** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A2\_X1\_2** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A2\_X2\_0** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_A2\_X2\_1** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A2\_X2\_2** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A2\_X3\_0** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_A2\_X3\_1** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A2\_X3\_2** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A3\_ID** (INT32) | ID of Accelerometer that the calibration is for | | 0 | | | **TC\_A3\_TMAX** (FLOAT) | Accelerometer calibration maximum temperature | | 100.0 | | | **TC\_A3\_TMIN** (FLOAT) | Accelerometer calibration minimum temperature | | 0.0 | | | **TC\_A3\_TREF** (FLOAT) | Accelerometer calibration reference temperature | | 25.0 | | | **TC\_A3\_X0\_0** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_A3\_X0\_1** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A3\_X0\_2** (FLOAT) | Accelerometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A3\_X1\_0** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_A3\_X1\_1** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A3\_X1\_2** (FLOAT) | Accelerometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A3\_X2\_0** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_A3\_X2\_1** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A3\_X2\_2** (FLOAT) | Accelerometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A3\_X3\_0** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_A3\_X3\_1** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_A3\_X3\_2** (FLOAT) | Accelerometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_A\_ENABLE** (INT32) |Thermal compensation for accelerometer sensors
Reboot required: true
| | Disabled (0) | | | **TC\_B0\_ID** (INT32) | ID of Barometer that the calibration is for | | 0 | | | **TC\_B0\_TMAX** (FLOAT) | Barometer calibration maximum temperature | | 75.0 | | | **TC\_B0\_TMIN** (FLOAT) | Barometer calibration minimum temperature | | 5.0 | | | **TC\_B0\_TREF** (FLOAT) | Barometer calibration reference temperature | | 40.0 | | | **TC\_B0\_X0** (FLOAT) | Barometer offset temperature ^0 polynomial coefficient | | 0.0 | | | **TC\_B0\_X1** (FLOAT) | Barometer offset temperature ^1 polynomial coefficients | | 0.0 | | | **TC\_B0\_X2** (FLOAT) | Barometer offset temperature ^2 polynomial coefficient | | 0.0 | | | **TC\_B0\_X3** (FLOAT) | Barometer offset temperature ^3 polynomial coefficient | | 0.0 | | | **TC\_B0\_X4** (FLOAT) | Barometer offset temperature ^4 polynomial coefficient | | 0.0 | | | **TC\_B0\_X5** (FLOAT) | Barometer offset temperature ^5 polynomial coefficient | | 0.0 | | | **TC\_B1\_ID** (INT32) | ID of Barometer that the calibration is for | | 0 | | | **TC\_B1\_TMAX** (FLOAT) | Barometer calibration maximum temperature | | 75.0 | | | **TC\_B1\_TMIN** (FLOAT) | Barometer calibration minimum temperature | | 5.0 | | | **TC\_B1\_TREF** (FLOAT) | Barometer calibration reference temperature | | 40.0 | | | **TC\_B1\_X0** (FLOAT) | Barometer offset temperature ^0 polynomial coefficient | | 0.0 | | | **TC\_B1\_X1** (FLOAT) | Barometer offset temperature ^1 polynomial coefficients | | 0.0 | | | **TC\_B1\_X2** (FLOAT) | Barometer offset temperature ^2 polynomial coefficient | | 0.0 | | | **TC\_B1\_X3** (FLOAT) | Barometer offset temperature ^3 polynomial coefficient | | 0.0 | | | **TC\_B1\_X4** (FLOAT) | Barometer offset temperature ^4 polynomial coefficient | | 0.0 | | | **TC\_B1\_X5** (FLOAT) | Barometer offset temperature ^5 polynomial coefficient | | 0.0 | | | **TC\_B2\_ID** (INT32) | ID of Barometer that the calibration is for | | 0 | | | **TC\_B2\_TMAX** (FLOAT) | Barometer calibration maximum temperature | | 75.0 | | | **TC\_B2\_TMIN** (FLOAT) | Barometer calibration minimum temperature | | 5.0 | | | **TC\_B2\_TREF** (FLOAT) | Barometer calibration reference temperature | | 40.0 | | | **TC\_B2\_X0** (FLOAT) | Barometer offset temperature ^0 polynomial coefficient | | 0.0 | | | **TC\_B2\_X1** (FLOAT) | Barometer offset temperature ^1 polynomial coefficients | | 0.0 | | | **TC\_B2\_X2** (FLOAT) | Barometer offset temperature ^2 polynomial coefficient | | 0.0 | | | **TC\_B2\_X3** (FLOAT) | Barometer offset temperature ^3 polynomial coefficient | | 0.0 | | | **TC\_B2\_X4** (FLOAT) | Barometer offset temperature ^4 polynomial coefficient | | 0.0 | | | **TC\_B2\_X5** (FLOAT) | Barometer offset temperature ^5 polynomial coefficient | | 0.0 | | | **TC\_B3\_ID** (INT32) | ID of Barometer that the calibration is for | | 0 | | | **TC\_B3\_TMAX** (FLOAT) | Barometer calibration maximum temperature | | 75.0 | | | **TC\_B3\_TMIN** (FLOAT) | Barometer calibration minimum temperature | | 5.0 | | | **TC\_B3\_TREF** (FLOAT) | Barometer calibration reference temperature | | 40.0 | | | **TC\_B3\_X0** (FLOAT) | Barometer offset temperature ^0 polynomial coefficient | | 0.0 | | | **TC\_B3\_X1** (FLOAT) | Barometer offset temperature ^1 polynomial coefficients | | 0.0 | | | **TC\_B3\_X2** (FLOAT) | Barometer offset temperature ^2 polynomial coefficient | | 0.0 | | | **TC\_B3\_X3** (FLOAT) | Barometer offset temperature ^3 polynomial coefficient | | 0.0 | | | **TC\_B3\_X4** (FLOAT) | Barometer offset temperature ^4 polynomial coefficient | | 0.0 | | | **TC\_B3\_X5** (FLOAT) | Barometer offset temperature ^5 polynomial coefficient | | 0.0 | | | **TC\_B\_ENABLE** (INT32) |Thermal compensation for barometric pressure sensors
Reboot required: true
| | Disabled (0) | | | **TC\_G0\_ID** (INT32) | ID of Gyro that the calibration is for | | 0 | | | **TC\_G0\_TMAX** (FLOAT) | Gyro calibration maximum temperature | | 100.0 | | | **TC\_G0\_TMIN** (FLOAT) | Gyro calibration minimum temperature | | 0.0 | | | **TC\_G0\_TREF** (FLOAT) | Gyro calibration reference temperature | | 25.0 | | | **TC\_G0\_X0\_0** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_G0\_X0\_1** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G0\_X0\_2** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G0\_X1\_0** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_G0\_X1\_1** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G0\_X1\_2** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G0\_X2\_0** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_G0\_X2\_1** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G0\_X2\_2** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G0\_X3\_0** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_G0\_X3\_1** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G0\_X3\_2** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G1\_ID** (INT32) | ID of Gyro that the calibration is for | | 0 | | | **TC\_G1\_TMAX** (FLOAT) | Gyro calibration maximum temperature | | 100.0 | | | **TC\_G1\_TMIN** (FLOAT) | Gyro calibration minimum temperature | | 0.0 | | | **TC\_G1\_TREF** (FLOAT) | Gyro calibration reference temperature | | 25.0 | | | **TC\_G1\_X0\_0** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_G1\_X0\_1** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G1\_X0\_2** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G1\_X1\_0** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_G1\_X1\_1** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G1\_X1\_2** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G1\_X2\_0** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_G1\_X2\_1** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G1\_X2\_2** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G1\_X3\_0** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_G1\_X3\_1** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G1\_X3\_2** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G2\_ID** (INT32) | ID of Gyro that the calibration is for | | 0 | | | **TC\_G2\_TMAX** (FLOAT) | Gyro calibration maximum temperature | | 100.0 | | | **TC\_G2\_TMIN** (FLOAT) | Gyro calibration minimum temperature | | 0.0 | | | **TC\_G2\_TREF** (FLOAT) | Gyro calibration reference temperature | | 25.0 | | | **TC\_G2\_X0\_0** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_G2\_X0\_1** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G2\_X0\_2** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G2\_X1\_0** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_G2\_X1\_1** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G2\_X1\_2** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G2\_X2\_0** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_G2\_X2\_1** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G2\_X2\_2** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G2\_X3\_0** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_G2\_X3\_1** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G2\_X3\_2** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G3\_ID** (INT32) | ID of Gyro that the calibration is for | | 0 | | | **TC\_G3\_TMAX** (FLOAT) | Gyro calibration maximum temperature | | 100.0 | | | **TC\_G3\_TMIN** (FLOAT) | Gyro calibration minimum temperature | | 0.0 | | | **TC\_G3\_TREF** (FLOAT) | Gyro calibration reference temperature | | 25.0 | | | **TC\_G3\_X0\_0** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_G3\_X0\_1** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G3\_X0\_2** (FLOAT) | Gyro rate offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G3\_X1\_0** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_G3\_X1\_1** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G3\_X1\_2** (FLOAT) | Gyro rate offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G3\_X2\_0** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_G3\_X2\_1** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G3\_X2\_2** (FLOAT) | Gyro rate offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G3\_X3\_0** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_G3\_X3\_1** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_G3\_X3\_2** (FLOAT) | Gyro rate offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_G\_ENABLE** (INT32) |Thermal compensation for rate gyro sensors
Reboot required: true
| | Disabled (0) | | | **TC\_M0\_ID** (INT32) | ID of Magnetometer that the calibration is for | | 0 | | | **TC\_M0\_TMAX** (FLOAT) | Magnetometer calibration maximum temperature | | 100.0 | | | **TC\_M0\_TMIN** (FLOAT) | Magnetometer calibration minimum temperature | | 0.0 | | | **TC\_M0\_TREF** (FLOAT) | Magnetometer calibration reference temperature | | 25.0 | | | **TC\_M0\_X0\_0** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_M0\_X0\_1** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M0\_X0\_2** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M0\_X1\_0** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_M0\_X1\_1** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M0\_X1\_2** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M0\_X2\_0** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_M0\_X2\_1** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M0\_X2\_2** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M0\_X3\_0** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_M0\_X3\_1** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M0\_X3\_2** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M1\_ID** (INT32) | ID of Magnetometer that the calibration is for | | 0 | | | **TC\_M1\_TMAX** (FLOAT) | Magnetometer calibration maximum temperature | | 100.0 | | | **TC\_M1\_TMIN** (FLOAT) | Magnetometer calibration minimum temperature | | 0.0 | | | **TC\_M1\_TREF** (FLOAT) | Magnetometer calibration reference temperature | | 25.0 | | | **TC\_M1\_X0\_0** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_M1\_X0\_1** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M1\_X0\_2** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M1\_X1\_0** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_M1\_X1\_1** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M1\_X1\_2** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M1\_X2\_0** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_M1\_X2\_1** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M1\_X2\_2** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M1\_X3\_0** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_M1\_X3\_1** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M1\_X3\_2** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M2\_ID** (INT32) | ID of Magnetometer that the calibration is for | | 0 | | | **TC\_M2\_TMAX** (FLOAT) | Magnetometer calibration maximum temperature | | 100.0 | | | **TC\_M2\_TMIN** (FLOAT) | Magnetometer calibration minimum temperature | | 0.0 | | | **TC\_M2\_TREF** (FLOAT) | Magnetometer calibration reference temperature | | 25.0 | | | **TC\_M2\_X0\_0** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_M2\_X0\_1** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M2\_X0\_2** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M2\_X1\_0** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_M2\_X1\_1** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M2\_X1\_2** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M2\_X2\_0** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_M2\_X2\_1** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M2\_X2\_2** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M2\_X3\_0** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_M2\_X3\_1** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M2\_X3\_2** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M3\_ID** (INT32) | ID of Magnetometer that the calibration is for | | 0 | | | **TC\_M3\_TMAX** (FLOAT) | Magnetometer calibration maximum temperature | | 100.0 | | | **TC\_M3\_TMIN** (FLOAT) | Magnetometer calibration minimum temperature | | 0.0 | | | **TC\_M3\_TREF** (FLOAT) | Magnetometer calibration reference temperature | | 25.0 | | | **TC\_M3\_X0\_0** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - X axis | | 0.0 | | | **TC\_M3\_X0\_1** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M3\_X0\_2** (FLOAT) | Magnetometer offset temperature ^0 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M3\_X1\_0** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - X axis | | 0.0 | | | **TC\_M3\_X1\_1** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M3\_X1\_2** (FLOAT) | Magnetometer offset temperature ^1 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M3\_X2\_0** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - X axis | | 0.0 | | | **TC\_M3\_X2\_1** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M3\_X2\_2** (FLOAT) | Magnetometer offset temperature ^2 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M3\_X3\_0** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - X axis | | 0.0 | | | **TC\_M3\_X3\_1** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Y axis | | 0.0 | | | **TC\_M3\_X3\_2** (FLOAT) | Magnetometer offset temperature ^3 polynomial coefficient - Z axis | | 0.0 | | | **TC\_M\_ENABLE** (INT32) |Thermal compensation for magnetometer sensors
Reboot required: true
| | Disabled (0) | | ## Transponder | Name | Description | \[Min, Max] (Incr.) | Default | Units | | --------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **MXS\_EXT\_CFG** (INT32) |Sagetech External Configuration Mode
Comment: Disables auto-configuration mode enabling MXS config through external software.
Reboot required: true
| | Disabled (0) | | | **MXS\_OP\_MODE** (INT32) |Sagetech MXS mode configuration
Comment: This parameter defines the operating mode of the MXS
Values:
Reboot required: false
| \[0, 3] | 0 | | | **MXS\_SER\_CFG** (INT32) |Serial Configuration for Sagetech MXS Serial Port
Comment: Configure on which serial port to run Sagetech MXS Serial Port.
Values:
Reboot required: true
| | 0 | | | **MXS\_TARG\_PORT** (INT32) |Sagetech MXS Participant Configuration
Comment: The MXS communication port to receive Target data from
Values:
Reboot required: false
| \[0, 2] | 1 | | ## UAVCAN | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------------ | ----- | | **CANNODE\_BITRATE** (INT32) | UAVCAN CAN bus bitrate | \[20000, 1000000] | 1000000 | | | **CANNODE\_PUB\_MBD** (INT32) |Enable MovingBaselineData publication
Reboot required: true
| | Disabled (0) | | | **CANNODE\_SUB\_MBD** (INT32) |Enable MovingBaselineData subscription
Reboot required: true
| \[?, 1] | Disabled (0) | | | **CANNODE\_SUB\_RTCM** (INT32) |Enable RTCM subscription
Reboot required: true
| | Disabled (0) | | | **CANNODE\_TERM** (INT32) | CAN built-in bus termination | \[?, 1] | Disabled (0) | | | **SIM\_GZ\_EN** (INT32) |Simulator Gazebo bridge enable
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_BITRATE** (INT32) |UAVCAN CAN bus bitrate
Reboot required: true
| \[20000, 1000000] | 1000000 | bit/s | | **UAVCAN\_ENABLE** (INT32) |UAVCAN mode
Comment: 0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
Values:
Reboot required: true
| \[0, 3] | 0 | | | **UAVCAN\_LGT\_ANTCL** (INT32) |UAVCAN ANTI\_COLLISION light operating mode
Comment: This parameter defines the minimum condition under which the system will command the ANTI\_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on
Values:
Reboot required: true
| \[0, 3] | 2 | | | **UAVCAN\_LGT\_LAND** (INT32) |UAVCAN LIGHT\_ID\_LANDING light operating mode
Comment: This parameter defines the minimum condition under which the system will command the LIGHT\_ID\_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on
Values:
Reboot required: true
| \[0, 3] | 0 | | | **UAVCAN\_LGT\_NAV** (INT32) |UAVCAN RIGHT\_OF\_WAY light operating mode
Comment: This parameter defines the minimum condition under which the system will command the RIGHT\_OF\_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on
Values:
Reboot required: true
| \[0, 3] | 3 | | | **UAVCAN\_LGT\_STROB** (INT32) |UAVCAN STROBE light operating mode
Comment: This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on
Values:
Reboot required: true
| \[0, 3] | 1 | | | **UAVCAN\_NODE\_ID** (INT32) |UAVCAN Node ID
Comment: Read the specs at
Reboot required: true
| \[1, 125] | 1 | | | **UAVCAN\_PUB\_ARM** (INT32) |publish Arming Status stream
Comment: Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_PUB\_MBD** (INT32) |publish moving baseline data RTCM stream
Comment: Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_PUB\_RTCM** (INT32) |publish RTCM stream
Comment: Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_RNG\_MAX** (FLOAT) |UAVCAN rangefinder maximum range
Comment: This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
| | 200.0 | m | | **UAVCAN\_RNG\_MIN** (FLOAT) |UAVCAN rangefinder minimum range
Comment: This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
| | 0.3 | m | | **UAVCAN\_SUB\_ASPD** (INT32) |subscription airspeed
Comment: Enable UAVCAN airspeed subscriptions. uavcan::equipment::air\_data::IndicatedAirspeed uavcan::equipment::air\_data::TrueAirspeed uavcan::equipment::air\_data::StaticTemperature
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_BARO** (INT32) |subscription barometer
Comment: Enable UAVCAN barometer subscription. uavcan::equipment::air\_data::StaticPressure uavcan::equipment::air\_data::StaticTemperature
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_BAT** (INT32) |subscription battery
Comment: Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library
Values:
Reboot required: true
| \[0, 2] | 0 | | | **UAVCAN\_SUB\_BTN** (INT32) |subscription button
Comment: Enable UAVCAN button subscription. ardupilot::indication::Button
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_DPRES** (INT32) |subscription differential pressure
Comment: Enable UAVCAN differential pressure subscription. uavcan::equipment::air\_data::RawAirData
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_FLOW** (INT32) |subscription flow
Comment: Enable UAVCAN optical flow subscription.
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_GPS** (INT32) |subscription GPS
Comment: Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary
Reboot required: true
| | Enabled (1) | | | **UAVCAN\_SUB\_HYGRO** (INT32) |subscription hygrometer
Comment: Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_ICE** (INT32) |subscription ICE
Comment: Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_IMU** (INT32) |subscription IMU
Comment: Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU
Reboot required: true
| | Disabled (0) | | | **UAVCAN\_SUB\_MAG** (INT32) |subscription magnetometer
Comment: Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2
Reboot required: true
| | Enabled (1) | | | **UAVCAN\_SUB\_RNG** (INT32) |subscription range finder
Comment: Enable UAVCAN range finder subscription. uavcan::equipment::range\_sensor::Measurement
Reboot required: true
| | Disabled (0) | | ## UUV Attitude Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------- | ------- | ----- | | **UUV\_DIRCT\_PITCH** (FLOAT) | Direct pitch input | | 0.0 | | | **UUV\_DIRCT\_ROLL** (FLOAT) | Direct roll input | | 0.0 | | | **UUV\_DIRCT\_THRUST** (FLOAT) | Direct thrust input | | 0.0 | | | **UUV\_DIRCT\_YAW** (FLOAT) | Direct yaw input | | 0.0 | | | **UUV\_INPUT\_MODE** (INT32) |Select Input Mode Values:
Stabilization mode(1) or Position Control(0) Values:
UWB sensor X offset in body frame
Comment: UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o
| (0.01) | 0.0 | m | | **UWB\_INIT\_OFF\_Y** (FLOAT) |UWB sensor Y offset in body frame
Comment: UWB sensor positioning in relation to Drone in NED. Y offset.
| (0.01) | 0.0 | m | | **UWB\_INIT\_OFF\_Z** (FLOAT) |UWB sensor Z offset in body frame
Comment: UWB sensor positioning in relation to Drone in NED. Z offset.
| (0.01) | 0.0 | m | | **UWB\_PORT\_CFG** (INT32) |Serial Configuration for Ultrawideband position sensor driver
Comment: Configure on which serial port to run Ultrawideband position sensor driver.
Values:
Reboot required: true
| | 0 | | | **UWB\_SENS\_ROT** (INT32) |UWB sensor orientation
Comment: The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h Default position is the antannaes downward facing, UWB board parallel with body frame.
Values:
uXRCE-DDS Agent IP address
Comment: If ethernet enabled and selected as configuration for uXRCE-DDS, selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.
Reboot required: True
| | 2130706433 | | | **UXRCE\_DDS\_CFG** (INT32) |Serial Configuration for UXRCE-DDS Client
Comment: Configure on which serial port to run UXRCE-DDS Client.
Values:
Reboot required: true
| | 0 | | | **UXRCE\_DDS\_DOM\_ID** (INT32) |uXRCE-DDS domain ID
Comment: uXRCE-DDS domain ID
Reboot required: True
| | 0 | | | **UXRCE\_DDS\_KEY** (INT32) |uXRCE-DDS Session key
Comment: uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.
Reboot required: True
| | 1 | | | **UXRCE\_DDS\_PRT** (INT32) |uXRCE-DDS UDP Port
Comment: If ethernet enabled and selected as configuration for uXRCE-DDS, selected udp port will be set and used.
Reboot required: True
| \[0, 65535] | 8888 | | | **UXRCE\_DDS\_SYNCT** (INT32) |uXRCE-DDS timestamp synchronization enable
Comment: When enabled, uxrce\_dds\_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.
Reboot required: True
| | Enabled (1) | | ## VTOL Attitude Control | Name | Description | \[Min, Max] (Incr.) | Default | Units | | -------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------- | ----------- | ------- | | **VT\_ARSP\_BLEND** (FLOAT) |Transition blending airspeed
Comment: Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.
| \[0.00, 30.00] (1) | 8.0 | m/s | | **VT\_ARSP\_TRANS** (FLOAT) |Transition airspeed
Comment: Airspeed at which we can switch to fw mode
| \[0.00, 30.00] (1) | 10.0 | m/s | | **VT\_BT\_TILT\_DUR** (FLOAT) |Duration motor tilt up in backtransition
Comment: Time in seconds it takes to tilt form VT\_TILT\_FW to VT\_TILT\_MC.
| \[0.1, 10] (0.1) | 1. | s | | **VT\_B\_DEC\_I** (FLOAT) | Backtransition deceleration setpoint to pitch I gain | \[0, 0.3] (0.05) | 0.1 | rad s/m | | **VT\_B\_DEC\_MSS** (FLOAT) |Approximate deceleration during back transition
Comment: Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.
| \[0.5, 10] (0.1) | 2.0 | m/s^2 | | **VT\_B\_TRANS\_DUR** (FLOAT) |Maximum duration of a back transition
Comment: Transition is also declared over if the groundspeed drops below MPC\_XY\_CRUISE.
| \[0.1, 20.00] (1) | 10.0 | s | | **VT\_B\_TRANS\_RAMP** (FLOAT) |Back transition MC motor ramp up time
Comment: This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.
| \[0.0, 20.0] (0.1) | 3.0 | s | | **VT\_ELEV\_MC\_LOCK** (INT32) |Lock control surfaces in hover
Comment: If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.
| | Enabled (1) | | | **VT\_FWD\_THRUST\_EN** (INT32) |Use fixed-wing actuation in hover to accelerate forward
Comment: This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT\_PITCH\_MIN. Use VT\_FWD\_THRUST\_SC to tune it. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.
Values:
Fixed-wing actuation thrust scale for hover forward flight
Comment: Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT\_FWD\_THRUST\_EN.
| \[0.0, 2.0] (0.01) | 0.7 | | | **VT\_FW\_DIFTHR\_EN** (INT32) |Differential thrust in forwards flight
Comment: Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT\_FW\_DIFTHR\_S\_R / VT\_FW\_DIFTHR\_S\_P / VT\_FW\_DIFTHR\_S\_Y.
Bitmask:
Pitch differential thrust factor in forward flight
Comment: Differential thrust in forward flight is enabled via VT\_FW\_DIFTHR\_EN.
| \[0.0, 2.0] (0.1) | 1. | | | **VT\_FW\_DIFTHR\_S\_R** (FLOAT) |Roll differential thrust factor in forward flight
Comment: Differential thrust in forward flight is enabled via VT\_FW\_DIFTHR\_EN.
| \[0.0, 2.0] (0.1) | 1. | | | **VT\_FW\_DIFTHR\_S\_Y** (FLOAT) |Yaw differential thrust factor in forward flight
Comment: Differential thrust in forward flight is enabled via VT\_FW\_DIFTHR\_EN.
| \[0.0, 2.0] (0.1) | 0.1 | | | **VT\_FW\_MIN\_ALT** (FLOAT) |Quad-chute altitude
Comment: Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM\_QC\_ACT.
| \[0.0, 200.0] (1) | 0.0 | m | | **VT\_FW\_QC\_HMAX** (INT32) |Quad-chute maximum height
Comment: Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.
| \[0, ?] (1) | 0 | m | | **VT\_FW\_QC\_P** (INT32) |Quad-chute max pitch threshold
Comment: Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM\_QC\_ACT. Set to 0 do disable this threshold.
| \[0, 180] | 0 | deg | | **VT\_FW\_QC\_R** (INT32) |Quad-chute max roll threshold
Comment: Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM\_QC\_ACT. Set to 0 do disable this threshold.
| \[0, 180] | 0 | deg | | **VT\_F\_TRANS\_DUR** (FLOAT) |Duration of a front transition
Comment: Time in seconds used for a transition
| \[0.1, 20.00] (1) | 5.0 | s | | **VT\_F\_TRANS\_THR** (FLOAT) | Target throttle value for the transition to fixed-wing flight | \[0.0, 1.0] (0.01) | 1.0 | | | **VT\_F\_TR\_OL\_TM** (FLOAT) |Airspeed-less front transition time (open loop)
Comment: The duration of the front transition when there is no airspeed feedback available.
| \[1.0, 30.0] (0.5) | 6.0 | s | | **VT\_LND\_PITCH\_MIN** (FLOAT) |Minimum pitch angle during hover landing
Comment: 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.
| \[-10.0, 45.0] (0.1) | -5.0 | deg | | **VT\_PITCH\_MIN** (FLOAT) |Minimum pitch angle during hover
Comment: Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT\_FW\_TRHUST\_EN is set to 1.
| \[-10.0, 45.0] (0.1) | -5.0 | deg | | **VT\_PSHER\_SLEW** (FLOAT) |Pusher throttle ramp up slew rate
Comment: Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT\_F\_TRANS\_THR.
| \[0, ?] (0.01) | 0.33 | 1/s | | **VT\_QC\_ALT\_LOSS** (FLOAT) |Quad-chute uncommanded descent threshold
Comment: Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.
| \[0.0, 200.0] (1) | 0.0 | m | | **VT\_QC\_T\_ALT\_LOSS** (FLOAT) |Quad-chute transition altitude loss threshold
Comment: 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.
| \[0, 50] (1) | 20.0 | m | | **VT\_SPOILER\_MC\_LD** (FLOAT) | Spoiler setting while landing (hover) | \[-1, 1] (0.1) | 0. | norm | | **VT\_TILT\_FW** (FLOAT) | Normalized tilt in FW | \[0.0, 1.0] (0.01) | 1.0 | | | **VT\_TILT\_MC** (FLOAT) | Normalized tilt in Hover | \[0.0, 1.0] (0.01) | 0.0 | | | **VT\_TILT\_TRANS** (FLOAT) | Normalized tilt in transition to FW | \[0.0, 1.0] (0.01) | 0.4 | | | **VT\_TRANS\_MIN\_TM** (FLOAT) |Front transition minimum time
Comment: Minimum time in seconds for front transition.
| \[0.0, 20.0] (0.1) | 2.0 | s | | **VT\_TRANS\_P2\_DUR** (FLOAT) |Duration of front transition phase 2
Comment: Time in seconds it takes to tilt form VT\_TILT\_TRANS to VT\_TILT\_FW.
| \[0.1, 5.0] (0.01) | 0.5 | s | | **VT\_TRANS\_TIMEOUT** (FLOAT) |Front transition timeout
Comment: Time in seconds after which transition will be cancelled. Disabled if set to 0.
| \[0.1, 30.00] (1) | 15.0 | s | | **VT\_TYPE** (INT32) |VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) Values:
Reboot required: true
| \[0, 2] | 0 | | | **WV\_GAIN** (FLOAT) |Weather-vane roll angle to yawrate
Comment: The desired gain to convert roll sp into yaw rate sp.
| \[0.0, 3.0] (0.01) | 1.0 | Hz | ## VTOL Takeoff | Name | Description | \[Min, Max] (Incr.) | Default | Units | | ---------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **VTO\_LOITER\_ALT** (FLOAT) |VTOL Takeoff relative loiter altitude
Comment: Altitude relative to home at which vehicle will loiter after front transition.
| \[20, 300] (1) | 80 | m | ## Miscellaneous | Name | Description | \[Min, Max] (Incr.) | Default | Units | | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------- | ------- | ----- | | **UUV\_SKIP\_CTRL** (INT32) |Skip the controller Values: