Parameter Reference

This list is auto-generated from the source code and contains the most recent parameter documentation ( this supersedes the firmware parameter documentation here.)

Attitude EKF estimator

The module where these parameters are defined is: src/examples/attitude_estimator_ekf.

NameDescriptionMin > Max (Incr.)DefaultUnits
EKF_ATT_V3_Q0 (FLOAT)

Body angular rate process noise

1e-4
EKF_ATT_V3_Q1 (FLOAT)

Body angular acceleration process noise

0.08
EKF_ATT_V3_Q2 (FLOAT)

Acceleration process noise

0.009
EKF_ATT_V3_Q3 (FLOAT)

Magnet field vector process noise

0.005
EKF_ATT_V4_R0 (FLOAT)

Gyro measurement noise

0.0008
EKF_ATT_V4_R1 (FLOAT)

Accel measurement noise

10000.0
EKF_ATT_V4_R2 (FLOAT)

Mag measurement noise

100.0
ATT_J11 (FLOAT)

Moment of inertia matrix diagonal entry (1, 1)

0.0018 kg*m^2
ATT_J22 (FLOAT)

Moment of inertia matrix diagonal entry (2, 2)

0.0018 kg*m^2
ATT_J33 (FLOAT)

Moment of inertia matrix diagonal entry (3, 3)

0.0037 kg*m^2
ATT_J_EN (INT32)

Moment of inertia enabled in estimator

Comment: If set to != 0 the moment of inertia will be used in the estimator

0

Attitude Q estimator

The module where these parameters are defined is: src/modules/attitude_estimator_q.

NameDescriptionMin > Max (Incr.)DefaultUnits
ATT_W_ACC (FLOAT)

Complimentary filter accelerometer weight

0 > 1 0.2
ATT_W_MAG (FLOAT)

Complimentary filter magnetometer weight

0 > 1 0.1
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_MAG_DECL (FLOAT)

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

1
ATT_EXT_HDG_M (INT32)

External heading usage mode (from Motion capture/Vision) Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture

Values:
  • 0: None
  • 1: Vision
  • 2: Motion Capture
0 > 2 0
ATT_ACC_COMP (INT32)

Acceleration compensation based on GPS velocity

1
ATT_BIAS_MAX (FLOAT)

Gyro bias limit

0 > 2 0.05 rad/s

Battery Calibration

NameDescriptionMin > Max (Incr.)DefaultUnits
BAT_V_SCALE_IO (INT32)

Scaling factor for battery voltage sensor on PX4IO

Module: src/modules/sensors

1 > 100000 10000
BAT_CNT_V_VOLT (FLOAT)

Scaling from ADC counts to volt on the ADC input (battery voltage)

Comment: This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.

Module: src/modules/sensors

-1.0
BAT_CNT_V_CURR (FLOAT)

Scaling from ADC counts to volt on the ADC input (battery current)

Comment: This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.

Module: src/modules/sensors

-1.0
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.

Module: src/modules/sensors

0.0
BAT_V_DIV (FLOAT)

Battery voltage divider (V divider)

Comment: This is the divider from battery voltage to 3.3V 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.

Module: src/modules/sensors

-1.0
BAT_A_PER_V (FLOAT)

Battery current per volt (A/V)

Comment: The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Module: src/modules/sensors

-1.0
BAT_SOURCE (INT32)

Battery 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.

Values:
  • 0: Power Module
  • 1: External

Module: src/modules/sensors

0 > 1 0
BAT_V_EMPTY (FLOAT)

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of the battery 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

Module: src/modules/systemlib

(0.01) 3.4 V
BAT_V_CHARGED (FLOAT)

Full cell voltage (5C load)

Comment: Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: true

Module: src/modules/systemlib

(0.01) 4.05 V
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.

Reboot required: true

Module: src/modules/systemlib

0.12 > 0.4 (0.01) 0.15 norm
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.

Reboot required: true

Module: src/modules/systemlib

0.05 > 0.1 (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.

Reboot required: true

Module: src/modules/systemlib

0.03 > 0.07 (0.01) 0.05 norm
BAT_V_LOAD_DROP (FLOAT)

Voltage drop per cell on full throttle

Comment: This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.

Reboot required: true

Module: src/modules/systemlib

0.07 > 0.5 (0.01) 0.3 V
BAT_R_INTERNAL (FLOAT)

Explicitly defines the per cell internal resistance

Comment: If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.

Reboot required: true

Module: src/modules/systemlib

-1.0 > 0.2 -1.0 Ohms
BAT_N_CELLS (INT32)

Number of cells

Comment: Defines the number of cells the attached battery consists of.

Values:
  • 0: Unconfigured
  • 2: 2S Battery
  • 3: 3S Battery
  • 4: 4S Battery
  • 5: 5S Battery
  • 6: 6S Battery
  • 7: 7S Battery
  • 8: 8S Battery
  • 9: 9S Battery
  • 10: 10S Battery
  • 11: 11S Battery
  • 12: 12S Battery
  • 13: 13S Battery
  • 14: 14S Battery
  • 15: 15S Battery
  • 16: 16S Battery

Reboot required: true

Module: src/modules/systemlib

0 S
BAT_CAPACITY (FLOAT)

Battery capacity

Comment: Defines the capacity of the attached battery.

Reboot required: true

Module: src/modules/systemlib

-1.0 > 100000 (50) -1.0 mA

Camera trigger

The module where these parameters are defined is: src/drivers/camera_trigger.

NameDescriptionMin > Max (Incr.)DefaultUnits
TRIG_INTERFACE (INT32)

Camera trigger Interface

Comment: Selects the trigger interface

Values:
  • 1: GPIO
  • 2: Seagull MAP2 (over PWM)
  • 3: MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)
  • 4: Generic PWM (IR trigger, servo)

Reboot required: true

4
TRIG_INTERVAL (FLOAT)

Camera trigger interval

Comment: This parameter sets the time between two consecutive trigger events

4.0 > 10000.0 40.0 ms
TRIG_POLARITY (INT32)

Camera trigger polarity

Comment: This parameter sets the polarity of the trigger (0 = active low, 1 = active high )

Values:
  • 0: Active low
  • 1: Active high
0 > 1 0
TRIG_ACT_TIME (FLOAT)

Camera trigger activation time

Comment: This parameter sets the time the trigger needs to pulled high or low.

0.1 > 3000 40.0 ms
TRIG_MODE (INT32)

Camera trigger mode

Values:
  • 0: Disable
  • 1: On individual commands
  • 2: Time based, always on
  • 3: Distance based, always on
  • 4: Distance, mission controlled

Reboot required: true

0 > 4 0
TRIG_PINS (INT32)

Camera trigger pin

Comment: Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.

Reboot required: true

1 > 123456 56
TRIG_DISTANCE (FLOAT)

Camera trigger distance

Comment: Sets the distance at which to trigger the camera.

0 > ? (1) 25.0 m

Circuit Breaker

The module where these parameters are defined is: src/modules/systemlib.

NameDescriptionMin > Max (Incr.)DefaultUnits
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

Reboot required: true

0 > 894281 0
CBRK_RATE_CTRL (INT32)

Circuit breaker for rate controller output

Comment: Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 140253 0
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

Reboot required: true

0 > 22027 0
CBRK_AIRSPD_CHK (INT32)

Circuit breaker for airspeed sensor

Comment: Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 162128 0
CBRK_FLIGHTTERM (INT32)

Circuit breaker for flight termination

Comment: Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 121212 121212
CBRK_ENGINEFAIL (INT32)

Circuit breaker for engine failure detection

Comment: Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 284953 284953
CBRK_GPSFAIL (INT32)

Circuit breaker for GPS failure detection

Comment: Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 240024 0
CBRK_BUZZER (INT32)

Circuit breaker for disabling buzzer

Comment: Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 782097 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. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 197848 0

Commander

The module where these parameters are defined is: src/modules/commander.

NameDescriptionMin > Max (Incr.)DefaultUnits
COM_DL_LOSS_T (INT32)

Datalink loss time threshold

Comment: After this amount of seconds without datalink the data link lost mode triggers

5 > 300 (0.5) 10 s
COM_DL_REG_T (INT32)

Datalink regain time threshold

Comment: After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false

0 > 3 (0.5) 0 s
COM_EF_THROT (FLOAT)

Engine Failure Throttle Threshold

Comment: Engine failure triggers only above this throttle value

0.0 > 1.0 (0.01) 0.5 norm
COM_EF_C2T (FLOAT)

Engine Failure Current/Throttle Threshold

Comment: Engine failure triggers only below this current value

0.0 > 50.0 (1) 5.0 A/%
COM_EF_TIME (FLOAT)

Engine Failure Time Threshold

Comment: Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time

0.0 > 60.0 (1) 10.0 s
COM_RC_LOSS_T (FLOAT)

RC loss time threshold

Comment: After this amount of seconds without RC connection the rc lost flag is set to true

0 > 35 (0.1) 0.5 s
COM_HOME_H_T (FLOAT)

Home set horizontal threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

2 > 15 (0.5) 5.0 m
COM_HOME_V_T (FLOAT)

Home set vertical threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

5 > 25 (0.5) 10.0 m
COM_RC_IN_MODE (INT32)

RC control input mode

Comment: The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.

Values:
  • 0: RC Transmitter
  • 1: Joystick/No RC Checks
  • 2: Virtual RC by Joystick
0 > 2 0
COM_RC_ARM_HYST (INT32)

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
COM_DISARM_LAND (INT32)

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. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will be longer by a factor of 5. A value of zero means that automatic disarming is disabled.

0 > 20 (1) 0 s
COM_ARM_WO_GPS (INT32)

Allow arming without GPS

Comment: The default allows to arm the vehicle without GPS signal.

1
COM_ARM_SWISBTN (INT32)

Arm switch is only a button

Comment: The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.

Values:
  • 0: Arm switch is a switch that stays on when armed
  • 1: Arm switch is a button that only triggers arming and disarming
0 > 1 0
COM_LOW_BAT_ACT (INT32)

Battery failsafe mode

Comment: Action the system takes on low battery. Defaults to off

Values:
  • 0: Warning
  • 1: Return to land
  • 2: Land at current position
  • 3: Return to land at critically low level, land at current position if reaching dangerously low levels
(1) 0
COM_OF_LOSS_T (FLOAT)

Time-out to wait when offboard connection is lost before triggering offboard lost action. See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

0 > 60 (1) 0.0 second
COM_ARM_EKF_POS (FLOAT)

Maximum EKF position innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 0.5 m
COM_ARM_EKF_VEL (FLOAT)

Maximum EKF velocity innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 0.5 m/s
COM_ARM_EKF_HGT (FLOAT)

Maximum EKF height innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 1.0 m
COM_ARM_EKF_YAW (FLOAT)

Maximum EKF yaw innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 0.5 rad
COM_ARM_EKF_AB (FLOAT)

Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming

0.001 > 0.01 (0.0005) 5.0e-3 m/s
COM_ARM_EKF_GB (FLOAT)

Maximum value of EKF gyro delta angle bias estimate that will allow arming

0.0001 > 0.0017 (0.0001) 8.7e-4 rad
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/s
COM_ARM_IMU_GYR (FLOAT)

Maximum rate gyro inconsistency between IMU units that will allow arming

0.02 > 0.2 (0.01) 0.15 rad/s
COM_RC_OVERRIDE (INT32)

Enable RC stick override of auto modes

0
COM_ARM_MIS_REQ (INT32)

Require valid mission to arm

Comment: The default allows to arm the vehicle without a valid mission.

0

The module where these parameters are defined is: src/modules/navigator.

NameDescriptionMin > Max (Incr.)DefaultUnits
NAV_AH_LAT (INT32)

Airfield home Lat

Comment: Latitude of airfield home waypoint

-900000000 > 900000000 -265847810 deg * 1e7
NAV_AH_LON (INT32)

Airfield home Lon

Comment: Longitude of airfield home waypoint

-1800000000 > 1800000000 1518423250 deg * 1e7
NAV_AH_ALT (FLOAT)

Airfield home alt

Comment: Altitude of airfield home waypoint

-50 > ? (0.5) 600.0 m
NAV_DLL_CH_T (FLOAT)

Comms hold wait time

Comment: The amount of time in seconds the system should wait at the comms hold waypoint

0.0 > 3600.0 (1) 120.0 s
NAV_DLL_CH_LAT (INT32)

Comms hold Lat

Comment: Latitude of comms hold waypoint

-900000000 > 900000000 -266072120 deg * 1e7
NAV_DLL_CH_LON (INT32)

Comms hold Lon

Comment: Longitude of comms hold waypoint

-1800000000 > 1800000000 1518453890 deg * 1e7
NAV_DLL_CH_ALT (FLOAT)

Comms hold alt

Comment: Altitude of comms hold waypoint

-50 > 30000 (0.5) 600.0 m
NAV_DLL_AH_T (FLOAT)

Airfield home wait time

Comment: The amount of time in seconds the system should wait at the airfield home waypoint

0.0 > 3600.0 (1) 120.0 s
NAV_DLL_N (INT32)

Number of allowed Datalink timeouts

Comment: After more than this number of data link timeouts the aircraft returns home directly

0 > 1000 2
NAV_DLL_CHSK (INT32)

Skip comms hold wp

Comment: If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home

0

EKF2

The module where these parameters are defined is: src/modules/ekf2.

NameDescriptionMin > Max (Incr.)DefaultUnits
EKF2_MIN_OBS_DT (INT32)

Minimum time of arrival delta between non-IMU observations before data is downsampled. Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information

10 > 50 20 ms
EKF2_MAG_DELAY (FLOAT)

Magnetometer measurement delay relative to IMU measurements

0 > 300 0 ms
EKF2_BARO_DELAY (FLOAT)

Barometer measurement delay relative to IMU measurements

0 > 300 0 ms
EKF2_GPS_DELAY (FLOAT)

GPS measurement delay relative to IMU measurements

0 > 300 200 ms
EKF2_OF_DELAY (FLOAT)

Optical flow measurement delay relative to IMU measurements Assumes measurement is timestamped at trailing edge of integration period

0 > 300 5 ms
EKF2_RNG_DELAY (FLOAT)

Range finder measurement delay relative to IMU measurements

0 > 300 5 ms
EKF2_ASP_DELAY (FLOAT)

Airspeed measurement delay relative to IMU measurements

0 > 300 200 ms
EKF2_EV_DELAY (FLOAT)

Vision Position Estimator delay relative to IMU measurements

0 > 300 175 ms
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 : Minimum required GDoP set by EKF2_REQ_GDOP 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 can only be used if the vehicle is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT

Bitmask:
  • 0: Min sat count (EKF2_REQ_NSATS)
  • 1: Min GDoP (EKF2_REQ_GDOP)
  • 2: Max horizontal position error (EKF2_REQ_EPH)
  • 3: Max vertical position error (EKF2_REQ_EPV)
  • 4: Max speed error (EKF2_REQ_SACC)
  • 5: Max horizontal position rate (EKF2_REQ_HDRIFT)
  • 6: Max vertical position rate (EKF2_REQ_VDRIFT)
  • 7: Max horizontal speed (EKF2_REQ_HDRIFT)
  • 8: Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
0 > 511 21
EKF2_REQ_EPH (FLOAT)

Required EPH to use GPS

2 > 100 5.0 m
EKF2_REQ_EPV (FLOAT)

Required EPV to use GPS

2 > 100 8.0 m
EKF2_REQ_SACC (FLOAT)

Required speed accuracy to use GPS

0.5 > 5.0 1.0 m/s
EKF2_REQ_NSATS (INT32)

Required satellite count to use GPS

4 > 12 6
EKF2_REQ_GDOP (FLOAT)

Required GDoP to use GPS

1.5 > 5.0 2.5
EKF2_REQ_HDRIFT (FLOAT)

Maximum horizontal drift speed to use GPS

0.1 > 1.0 0.3 m/s
EKF2_REQ_VDRIFT (FLOAT)

Maximum vertical drift speed to use GPS

0.1 > 1.5 0.5 m/s
EKF2_GYR_NOISE (FLOAT)

Rate gyro noise for covariance prediction

0.0001 > 0.1 1.5e-2 rad/s
EKF2_ACC_NOISE (FLOAT)

Accelerometer noise for covariance prediction

0.01 > 1.0 3.5e-1 m/s/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_ACC_B_NOISE (FLOAT)

Process noise for IMU accelerometer bias prediction

0.0 > 0.01 3.0e-3 m/s**3
EKF2_MAG_B_NOISE (FLOAT)

Process noise for body magnetic field prediction

0.0 > 0.1 1.0e-4 Gauss/s
EKF2_MAG_E_NOISE (FLOAT)

Process noise for earth magnetic field prediction

0.0 > 0.1 1.0e-3 Gauss/s
EKF2_WIND_NOISE (FLOAT)

Process noise for wind velocity prediction

0.0 > 1.0 1.0e-1 m/s/s
EKF2_GPS_V_NOISE (FLOAT)

Measurement noise for gps horizontal velocity

0.01 > 5.0 0.5 m/s
EKF2_GPS_P_NOISE (FLOAT)

Measurement noise for gps position

0.01 > 10.0 0.5 m
EKF2_NOAID_NOISE (FLOAT)

Measurement noise for non-aiding position hold

0.5 > 50.0 10.0 m
EKF2_BARO_NOISE (FLOAT)

Measurement noise for barometric altitude

0.01 > 15.0 2.0 m
EKF2_HEAD_NOISE (FLOAT)

Measurement noise for magnetic heading fusion

0.01 > 1.0 0.3 rad
EKF2_MAG_NOISE (FLOAT)

Measurement noise for magnetometer 3-axis fusion

0.001 > 1.0 5.0e-2 Gauss
EKF2_EAS_NOISE (FLOAT)

Measurement noise for airspeed fusion

0.5 > 5.0 1.4 m/s
EKF2_BETA_NOISE (FLOAT)

Noise for synthetic sideslip fusion

0.1 > 1.0 0.3 m/s
EKF2_MAG_DECL (FLOAT)

Magnetic declination

0 deg
EKF2_HDG_GATE (FLOAT)

Gate size for magnetic heading fusion

1.0 > ? 2.6 SD
EKF2_MAG_GATE (FLOAT)

Gate size for magnetometer XYZ component fusion

1.0 > ? 3.0 SD
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:
  • 0: use geo_lookup declination
  • 1: save EKF2_MAG_DECL on disarm
  • 2: use declination as an observation
0 > 7 7
EKF2_MAG_TYPE (INT32)

Type of magnetometer fusion

Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight

Values:
  • 0: Automatic
  • 1: Magnetic heading
  • 2: 3-axis fusion
  • 3: None
0
EKF2_BARO_GATE (FLOAT)

Gate size for barometric height fusion

1.0 > ? 5.0 SD
EKF2_GPS_P_GATE (FLOAT)

Gate size for GPS horizontal position fusion

1.0 > ? 5.0 SD
EKF2_GPS_V_GATE (FLOAT)

Gate size for GPS velocity fusion

1.0 > ? 5.0 SD
EKF2_TAS_GATE (FLOAT)

Gate size for TAS fusion

1.0 > ? 3.0 SD
EKF2_REC_RPL (INT32)

Replay mode

Comment: A value of 1 indicates that the ekf2 module will publish replay messages for logging.

0
EKF2_AID_MASK (INT32)

Integer bitmask controlling data fusion and aiding methods

Comment: Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion

Bitmask:
  • 0: use GPS
  • 1: use optical flow
  • 2: inhibit IMU bias estimation
  • 3: vision position fusion
  • 4: vision yaw fusion
0 > 28 1
EKF2_HGT_MODE (INT32)

Determines the primary source of height data used by the EKF

Comment: The range sensor option 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:
  • 0: Barometric pressure
  • 1: GPS
  • 2: Range sensor
  • 3: Vision
0
EKF2_RNG_NOISE (FLOAT)

Measurement noise for range finder fusion

0.01 > ? 0.1 m
EKF2_RNG_GATE (FLOAT)

Gate size for range finder fusion

1.0 > ? 5.0 SD
EKF2_MIN_RNG (FLOAT)

Minimum valid range for the range finder

0.01 > ? 0.1 m
EKF2_EVP_NOISE (FLOAT)

Measurement noise for vision position observations used when the vision system does not supply error estimates

0.01 > ? 0.05 m
EKF2_EVA_NOISE (FLOAT)

Measurement noise for vision angle observations used when the vision system does not supply error estimates

0.01 > ? 0.05 rad
EKF2_EV_GATE (FLOAT)

Gate size for vision estimate fusion

1.0 > ? 5.0 SD
EKF2_MIN_EV (FLOAT)

Minimum valid range for the vision estimate

0.01 > ? 0.01 m
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_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_QMIN (INT32)

Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN

0 > 255 1
EKF2_OF_GATE (FLOAT)

Gate size for optical flow fusion

1.0 > ? 3.0 SD
EKF2_OF_RMAX (FLOAT)

Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX

1.0 > ? 2.5 rad/s
EKF2_TERR_NOISE (FLOAT)

Terrain altitude process noise - accounts for instability in vehicle height estimate

0.5 > ? 5.0 m/s
EKF2_TERR_GRAD (FLOAT)

Magnitude of terrain gradient

0.0 > ? 0.5 m/m
EKF2_IMU_POS_X (FLOAT)

X position of IMU in body frame

0.0 m
EKF2_IMU_POS_Y (FLOAT)

Y position of IMU in body frame

0.0 m
EKF2_IMU_POS_Z (FLOAT)

Z position of IMU in body frame

0.0 m
EKF2_GPS_POS_X (FLOAT)

X position of GPS antenna in body frame

0.0 m
EKF2_GPS_POS_Y (FLOAT)

Y position of GPS antenna in body frame

0.0 m
EKF2_GPS_POS_Z (FLOAT)

Z position of GPS antenna in body frame

0.0 m
EKF2_RNG_POS_X (FLOAT)

X position of range finder origin in body frame

0.0 m
EKF2_RNG_POS_Y (FLOAT)

Y position of range finder origin in body frame

0.0 m
EKF2_RNG_POS_Z (FLOAT)

Z position of range finder origin in body frame

0.0 m
EKF2_OF_POS_X (FLOAT)

X position of optical flow focal point in body frame

0.0 m
EKF2_OF_POS_Y (FLOAT)

Y position of optical flow focal point in body frame

0.0 m
EKF2_OF_POS_Z (FLOAT)

Z position of optical flow focal point in body frame

0.0 m
EKF2_EV_POS_X (FLOAT)

X position of VI sensor focal point in body frame

0.0 m
EKF2_EV_POS_Y (FLOAT)

Y position of VI sensor focal point in body frame

0.0 m
EKF2_EV_POS_Z (FLOAT)

Z position of VI sensor focal point in body frame

0.0 m
EKF2_ARSP_THR (FLOAT)

Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused

0.0 > ? 0.0 m/s
EKF2_FUSE_BETA (INT32)

Boolean determining if synthetic sideslip measurements should fused

Comment: A value of 1 indicates that fusion is active

0
EKF2_TAU_VEL (FLOAT)

Time constant of the velocity output prediction and smoothing filter

? > 1.0 0.25 s
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_GBIAS_INIT (FLOAT)

1-sigma IMU gyro switch-on bias

0.0 > 0.2 0.1 rad/sec
EKF2_ABIAS_INIT (FLOAT)

1-sigma IMU accelerometer switch-on bias

0.0 > 0.5 0.2 m/s/s
EKF2_ANGERR_INIT (FLOAT)

1-sigma tilt angle uncertainty after gravity vector alignment

0.0 > 0.5 0.1 rad
EKF2_RNG_PITCH (FLOAT)

Range sensor pitch offset

-0.75 > 0.75 0.0 rad

FW Attitude Control

The module where these parameters are defined is: src/modules/fw_att_control.

NameDescriptionMin > Max (Incr.)DefaultUnits
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.

0.4 > 1.0 (0.05) 0.4 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_PR_P (FLOAT)

Pitch rate proportional gain

Comment: This defines how much the elevator input will be commanded depending on the current body angular rate error.

0.005 > 1.0 (0.005) 0.08 %/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.

0.005 > 0.5 (0.005) 0.02 %/rad
FW_P_RMAX_POS (FLOAT)

Maximum positive / up pitch rate

Comment: This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.

0.0 > 90.0 (0.5) 60.0 deg/s
FW_P_RMAX_NEG (FLOAT)

Maximum negative / down pitch rate

Comment: This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.

0.0 > 90.0 (0.5) 60.0 deg/s
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_RR_P (FLOAT)

Roll rate proportional Gain

Comment: This defines how much the aileron input will be commanded depending on the current body angular rate error.

0.005 > 1.0 (0.005) 0.05 %/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.

0.005 > 0.2 (0.005) 0.01 %/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_R_RMAX (FLOAT)

Maximum Roll Rate

Comment: This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.

0.0 > 90.0 (0.5) 70.0 deg/s
FW_YR_P (FLOAT)

Yaw rate proportional gain

Comment: This defines how much the rudder input will be commanded depending on the current body angular rate error.

0.005 > 1.0 (0.005) 0.05 %/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 > 50.0 (0.5) 0.0 %/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_Y_RMAX (FLOAT)

Maximum Yaw Rate

Comment: This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.

0.0 > 90.0 (0.5) 0.0 deg/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 (rudder, airbrakes, ...) to counteract this effect.

0.0 > ? (0.01) 0.0
FW_W_EN (INT32)

Enable wheel steering controller

0
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.

0.005 > 1.0 (0.005) 0.5 %/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.

0.005 > 0.5 (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) 1.0
FW_W_RMAX (FLOAT)

Maximum wheel steering rate

Comment: This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.

0.0 > 90.0 (0.5) 0.0 deg/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_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_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_WR_FF (FLOAT)

Wheel steering rate feed forward

Comment: Direct feed forward from rate setpoint to control surface output

0.0 > 10.0 (0.05) 0.2 %/rad/s
FW_YCO_VMIN (FLOAT)

Minimal speed for yaw coordination

Comment: For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable.

0.0 > 1000.0 (0.5) 1000.0 m/s
FW_YCO_METHOD (INT32)

Method used for yaw coordination

Comment: The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration

Values:
  • 0: open-loop
  • 1: closed-loop
0 > 1 0
FW_RSP_OFF (FLOAT)

Roll Setpoint Offset

Comment: An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.

-90.0 > 90.0 (0.5) 0.0 deg
FW_PSP_OFF (FLOAT)

Pitch Setpoint Offset

Comment: An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe.

-90.0 > 90.0 (0.5) 0.0 deg
FW_MAN_R_MAX (FLOAT)

Max Manual Roll

Comment: Max roll for manual control in attitude stabilized mode

0.0 > 90.0 (0.5) 45.0 deg
FW_MAN_P_MAX (FLOAT)

Max Manual Pitch

Comment: Max pitch for manual control in attitude stabilized mode

0.0 > 90.0 (0.5) 45.0 deg
FW_FLAPS_SCL (FLOAT)

Scale factor for flaps

0.0 > 1.0 (0.01) 1.0 norm
FW_FLAPERON_SCL (FLOAT)

Scale factor for flaperons

0.0 > 1.0 (0.01) 0.0 norm
FW_ARSP_MODE (INT32)

Airspeed mode

Comment: The param value sets the method used to publish the control state airspeed. For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading

Values:
  • 0: use measured airspeed
  • 1: use vehicle ground velocity as airspeed
  • 2: declare airspeed invalid
0 > 2 0
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_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_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_BAT_SCALE_EN (INT32)

Whether to scale throttle by battery power level

Comment: This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.

0
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.

45 > 720 90 degrees
FW_ACRO_Y_MAX (FLOAT)

Acro body y max rate

Comment: This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.

45 > 720 90 degrees
FW_ACRO_Z_MAX (FLOAT)

Acro body z max rate

Comment: This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.

10 > 180 45 degrees
FW_RATT_TH (FLOAT)

Threshold for Rattitude mode

Comment: Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints

0.0 > 1.0 (0.01) 0.8

FW L1 Control

The module where these parameters are defined is: src/modules/fw_pos_control_l1.

NameDescriptionMin > Max (Incr.)DefaultUnits
FW_L1_PERIOD (FLOAT)

L1 period

Comment: This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.

12.0 > 50.0 (0.5) 20.0 m
FW_L1_DAMPING (FLOAT)

L1 damping

Comment: Damping factor for L1 control.

0.6 > 0.9 (0.05) 0.75
FW_THR_CRUISE (FLOAT)

Cruise throttle

Comment: This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.

0.0 > 1.0 (0.01) 0.6 norm
FW_THR_SLEW_MAX (FLOAT)

Throttle max slew rate

Comment: Maximum slew rate for the commanded throttle

0.0 > 1.0 0.0
FW_P_LIM_MIN (FLOAT)

Negative pitch limit

Comment: The minimum negative pitch the controller will output.

-60.0 > 0.0 (0.5) -45.0 deg
FW_P_LIM_MAX (FLOAT)

Positive pitch limit

Comment: The maximum positive pitch the controller will output.

0.0 > 60.0 (0.5) 45.0 deg
FW_R_LIM (FLOAT)

Controller roll limit

Comment: The maximum roll the controller will output.

35.0 > 65.0 (0.5) 50.0 deg
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_IDLE (FLOAT)

Idle throttle

Comment: This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.

0.0 > 0.4 (0.01) 0.15 norm
FW_THR_LND_MAX (FLOAT)

Throttle limit value before flare

Comment: This throttle value will be set as throttle limit at FW_LND_TLALT, before aircraft will flare.

0.0 > 1.0 (0.01) 1.0 norm
FW_CLMBOUT_DIFF (FLOAT)

Climbout Altitude difference

Comment: If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).

0.0 > 150.0 (0.5) 10.0 m
FW_LND_ANG (FLOAT)

Landing slope angle

1.0 > 15.0 (0.5) 5.0 deg
FW_LND_HVIRT (FLOAT)

1.0 > 15.0 (0.5) 10.0 m
FW_LND_FLALT (FLOAT)

Landing flare altitude (relative to landing altitude)

0.0 > 25.0 (0.5) 8.0 m
FW_LND_TLALT (FLOAT)

Landing throttle limit altitude (relative landing altitude)

Comment: Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.

-1.0 > 30.0 (0.5) -1.0 m
FW_LND_HHDIST (FLOAT)

Landing heading hold horizontal distance

0 > 30.0 (0.5) 15.0 m
FW_LND_USETER (INT32)

Use terrain estimate during landing

0
FW_LND_FL_PMIN (FLOAT)

Flare, minimum pitch

Comment: Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached

0 > 15.0 (0.5) 2.5 deg
FW_LND_FL_PMAX (FLOAT)

Flare, maximum pitch

Comment: Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached

0 > 45.0 (0.5) 15.0 deg
FW_LND_AIRSPD_SC (FLOAT)

Min. airspeed scaling factor for landing

Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC

1.0 > 1.5 (0.01) 1.3 norm

FW Launch detection

The module where these parameters are defined is: src/lib/launchdetection.

NameDescriptionMin > Max (Incr.)DefaultUnits
LAUN_ALL_ON (INT32)

Launch detection

0
LAUN_CAT_A (FLOAT)

Catapult accelerometer threshold

Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

0 > ? (0.5) 30.0 m/s/s
LAUN_CAT_T (FLOAT)

Catapult time threshold

Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

0.0 > 5.0 (0.05) 0.05 s
LAUN_CAT_MDEL (FLOAT)

Motor delay

Comment: Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate

0.0 > 10.0 (0.5) 0.0 s
LAUN_CAT_PMAX (FLOAT)

Maximum pitch before the throttle is powered up (during motor delay phase)

Comment: This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).

0.0 > 45.0 (0.5) 30.0 deg

FW TECS

NameDescriptionMin > Max (Incr.)DefaultUnits
FW_AIRSPD_MIN (FLOAT)

Minimum Airspeed

Comment: If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.

Module: src/modules/fw_pos_control_l1

0.0 > 40 (0.5) 10.0 m/s
FW_AIRSPD_MAX (FLOAT)

Maximum Airspeed

Comment: If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.

Module: src/modules/fw_pos_control_l1

0.0 > 40 (0.5) 20.0 m/s
FW_T_CLMB_MAX (FLOAT)

Maximum climb rate

Comment: This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.

Module: src/modules/fw_pos_control_l1

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.

Module: src/modules/fw_pos_control_l1

1.0 > 5.0 (0.5) 2.0 m/s
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.

Module: src/modules/fw_pos_control_l1

2.0 > 15.0 (0.5) 5.0 m/s
FW_T_TIME_CONST (FLOAT)

TECS time constant

Comment: This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

Module: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 5.0 s
FW_T_THRO_CONST (FLOAT)

TECS Throttle time constant

Comment: This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

Module: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 8.0 s
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.

Module: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.1) 0.5
FW_T_INTEG_GAIN (FLOAT)

Integrator gain

Comment: This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot.

Module: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.05) 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.

Module: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 7.0 m/s/s
FW_T_HGT_OMEGA (FLOAT)

Complementary filter "omega" parameter for height

Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.

Module: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 3.0 rad/s
FW_T_SPD_OMEGA (FLOAT)

Complementary filter "omega" parameter for speed

Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.

Module: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 2.0 rad/s
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.

Module: src/modules/fw_pos_control_l1

0.0 > 20.0 (0.5) 15.0
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. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).

Module: src/modules/fw_pos_control_l1

0.0 > 2.0 (1.0) 1.0
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.

Module: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.1) 0.0
FW_T_HRATE_P (FLOAT)

Height rate proportional factor

Module: src/modules/fw_pos_control_l1

0.0 > 1.0 (0.05) 0.05
FW_T_HRATE_FF (FLOAT)

Height rate feed forward

Module: src/modules/fw_pos_control_l1

0.0 > 1.0 (0.05) 0.8
FW_T_SRATE_P (FLOAT)

Speed rate P factor

Module: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.01) 0.02
FW_AIRSPD_TRIM (FLOAT)

Cruise Airspeed

Comment: The fixed wing controller tries to fly at this airspeed.

Module: src/modules/navigator

0.0 > 40 (0.5) 15.0 m/s

Follow target

The module where these parameters are defined is: src/modules/navigator.

NameDescriptionMin > Max (Incr.)DefaultUnits
NAV_MIN_FT_HT (FLOAT)

Minimum follow target altitude

Comment: The minimum height in meters relative to home for following a target

8.0 > ? 8.0 meters
NAV_FT_DST (FLOAT)

Distance to follow target from

Comment: The distance in meters to follow the target at

1.0 > ? 8.0 meters
NAV_FT_FS (INT32)

Side to follow target from

Comment: The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)

0 > 3 1 n/a
NAV_FT_RS (FLOAT)

Dynamic filtering algorithm responsiveness to target movement lower numbers increase the responsiveness to changing long lat but also ignore less noise

0.0 > 1.0 0.5 n/a

GPS

The module where these parameters are defined is: src/drivers/gps.

NameDescriptionMin > Max (Incr.)DefaultUnits
GPS_DUMP_COMM (INT32)

Dump GPS communication to a file

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.

Values:
  • 0: Disable
  • 1: Enable
0 > 1 0

GPS Failure Navigation

The module where these parameters are defined is: src/modules/navigator.

NameDescriptionMin > Max (Incr.)DefaultUnits
NAV_GPSF_LT (FLOAT)

Loiter time

Comment: The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination.

0.0 > 3600.0 (1) 30.0 s
NAV_GPSF_R (FLOAT)

Open loop loiter roll

Comment: Roll in degrees during the open loop loiter

0.0 > 30.0 (0.5) 15.0 deg
NAV_GPSF_P (FLOAT)

Open loop loiter pitch

Comment: Pitch in degrees during the open loop loiter

-30.0 > 30.0 (0.5) 0.0 deg
NAV_GPSF_TR (FLOAT)

Open loop loiter thrust

Comment: Thrust value which is set during the open loop loiter

0.0 > 1.0 (0.05) 0.7 norm

Geofence

The module where these parameters are defined is: src/modules/navigator.

NameDescriptionMin > Max (Incr.)DefaultUnits
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. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.

Values:
  • 0: None
  • 1: Warning
  • 2: Loiter
  • 3: Return to Land
  • 4: Flight terminate
0 > 4 1
GF_ALTMODE (INT32)

Geofence altitude mode

Comment: Select which altitude reference should be used 0 = WGS84, 1 = AMSL

Values:
  • 0: WGS84
  • 1: AMSL
0 > 1 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:
  • 0: GPOS
  • 1: GPS
0 > 1 0
GF_COUNT (INT32)

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

Iridium SBD

The module where these parameters are defined is: src/drivers/iridiumsbd.

NameDescriptionMin > Max (Incr.)DefaultUnits
ISBD_READINT (INT32)

Satellite radio read interval

0 > 300 10 s

Land Detector

The module where these parameters are defined is: src/modules/land_detector.

NameDescriptionMin > Max (Incr.)DefaultUnits
LNDMC_Z_VEL_MAX (FLOAT)

Multicopter max climb rate

Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

0.50 m/s
LNDMC_XY_VEL_MAX (FLOAT)

Multicopter max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state (m/s)

1.50 m/s
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_FFALL_THR (FLOAT)

Multicopter specific force threshold

Comment: Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection

0.1 > 10 2.0 m/s^2
LNDMC_THR_RANGE (FLOAT)

Multicopter sub-hover throttle scaling

Comment: The range between throttle_min and throttle_hover is scaled by this parameter to define how close to minimum throttle the current throttle value needs to be in order to get accepted as landed.

0.05 > 0.5 0.1
LNDMC_FFALL_TTRI (FLOAT)

Multicopter free-fall trigger time

Comment: Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h

0.02 > 5 0.3 s
LNDMC_MAN_DWNTHR (FLOAT)

Manual flight stick down threshold for landing

Comment: When controlling manually the throttle stick value (0 to 1) has to be bellow this threshold in order to pass the check for landing. So if set to 1 it's allowed to land with any stick position.

0 > 1 0.15 norm
LNDMC_POS_UPTHR (FLOAT)

Manual position flight stick up threshold for taking off

Comment: When controlling manually in position mode the throttle stick value (0 to 1) has to get above this threshold after arming in order to take off.

0 > 1 0.65 norm
LNDFW_VEL_XY_MAX (FLOAT)

Fixedwing max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state (m/s)

0.5 > 10 5.0 m/s
LNDFW_VEL_Z_MAX (FLOAT)

Fixedwing max climb rate

Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

5 > 20 10.0 m/s
LNDFW_VELI_MAX (FLOAT)

Fixedwing max short-term velocity

Comment: Maximum velocity integral in flight direction allowed in the landed state (m/s)

2 > 10 4.0 m/s
LNDFW_AIRSPD_MAX (FLOAT)

Airspeed max

Comment: Maximum airspeed allowed in the landed state (m/s)

4 > 20 8.00 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
LNDMC_ALT_MAX (FLOAT)

Maximum altitude that can be reached prior to subconditions

10 > 150 100.0 m

Local Position Estimator

The module where these parameters are defined is: src/modules/local_position_estimator.

NameDescriptionMin > Max (Incr.)DefaultUnits
LPE_FLW_OFF_Z (FLOAT)

Optical flow z offset from center

-1 > 1 0.0 m
LPE_FLW_SCALE (FLOAT)

Optical flow scale

0.1 > 10.0 1.3 m
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/s / (rad/s)
LPE_FLW_QMIN (INT32)

Optical flow minimum quality threshold

0 > 255 150
LPE_SNR_Z (FLOAT)

Sonar z standard deviation

0.01 > 1 0.05 m
LPE_SNR_OFF_Z (FLOAT)

Sonar 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_LDR_OFF_Z (FLOAT)

Lidar z offset from center of vehicle +down

-1 > 1 0.00 m
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_GPS_DELAY (FLOAT)

GPS delay compensaton

0 > 0.4 0.29 sec
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_GPS_VXY (FLOAT)

GPS xy velocity standard deviation. 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_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_VIS_DELAY (FLOAT)

Vision delay compensaton

Comment: Set to zero to enable automatic compensation from measurement timestamps

0 > 0.1 0.1 sec
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_VIC_P (FLOAT)

Vicon position standard deviation

0.0001 > 1 0.001 m
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_V (FLOAT)

Velocity propagation noise density

Comment: Increase to trust measurements more. Decrease to trust model more.

0 > 1 0.1 (m/s)/s/sqrt(Hz)
LPE_PN_B (FLOAT)

Accel bias propagation noise density

0 > 1 1e-3 (m/s^2)/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_T_MAX_GRADE (FLOAT)

Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) Used to calculate increased terrain random walk nosie due to movement

0 > 100 1.0 %
LPE_FGYRO_HP (FLOAT)

Flow gyro high pass filter cut off frequency

0 > 2 0.001 Hz
LPE_FAKE_ORIGIN (INT32)

Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable

0 > 1 0
LPE_LAT (FLOAT)

Local origin latitude for nav w/o GPS

-90 > 90 47.397742 deg
LPE_LON (FLOAT)

Local origin longitude for nav w/o GPS

-180 > 180 8.545594 deg
LPE_X_LP (FLOAT)

Cut frequency for state publication

5 > 1000 5.0 Hz
LPE_VXY_PUB (FLOAT)

Required velocity xy standard deviation to publish position

0.01 > 1.0 0.3 m/s
LPE_Z_PUB (FLOAT)

Required z standard deviation to publish altitude/ terrain

0.3 > 5.0 1.0 m
LPE_LAND_Z (FLOAT)

Land detector z standard deviation

0.001 > 10.0 0.03 m
LPE_LAND_VXY (FLOAT)

Land detector xy velocity standard deviation

0.01 > 10.0 0.05 m/s
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 fuse vision yaw 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 only)

Bitmask:
  • 0: fuse GPS, requires GPS for alt. init
  • 1: fuse optical flow
  • 2: fuse vision position
  • 3: fuse vision yaw
  • 4: fuse land detector
  • 5: pub agl as lpos down
  • 6: flow gyro compensation
  • 7: fuse baro
0 > 255 145

The module where these parameters are defined is: src/modules/mavlink.

NameDescriptionMin > Max (Incr.)DefaultUnits
MAV_SYS_ID (INT32)

MAVLink system ID

1 > 250 1
MAV_COMP_ID (INT32)

MAVLink component ID

1 > 250 1
MAV_PROTO_VER (INT32)

MAVLink protocol version

Values:
  • 0: Default to 1, switch to 2 if GCS sends version 2
  • 1: Always use version 1
  • 2: Always use version 2
0
MAV_RADIO_ID (INT32)

MAVLink Radio ID

Comment: When non-zero the MAVLink app will attempt to configure the 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.

-1 > 240 0
MAV_TYPE (INT32)

MAVLink airframe type

1 > ? 2
MAV_USEHILGPS (INT32)

Use/Accept HIL GPS message even if not in HIL mode

Comment: If set to 1 incoming HIL GPS messages are parsed.

0
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

1
MAV_BROADCAST (INT32)

Broadcast heartbeats on local network

Comment: This allows a ground control station to automatically find the drone on the local network.

Values:
  • 0: Never broadcast
  • 1: Always broadcast
0
MAV_TEST_PAR (INT32)

Test parameter

Comment: This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level.

-1000 > 1000 1

MKBLCTRL Testmode

The module where these parameters are defined is: src/drivers/mkblctrl.

NameDescriptionMin > Max (Incr.)DefaultUnits
MKBLCTRL_TEST (INT32)

Test mode (Identify) of MKBLCTRL Driver

0

MPU9x50 Configuration

The module where these parameters are defined is: src/platforms/qurt/fc_addon/mpu_spi.

NameDescriptionMin > Max (Incr.)DefaultUnits
MPU_GYRO_LPF_ENM (INT32)

Low pass filter frequency for Gyro

Values:
  • 0: MPU9X50_GYRO_LPF_250HZ
  • 1: MPU9X50_GYRO_LPF_184HZ
  • 2: MPU9X50_GYRO_LPF_92HZ
  • 3: MPU9X50_GYRO_LPF_41HZ
  • 4: MPU9X50_GYRO_LPF_20HZ
  • 5: MPU9X50_GYRO_LPF_10HZ
  • 6: MPU9X50_GYRO_LPF_5HZ
  • 7: MPU9X50_GYRO_LPF_3600HZ_NOLPF
4
MPU_ACC_LPF_ENM (INT32)

Low pass filter frequency for Accelerometer

Values:
  • 0: MPU9X50_ACC_LPF_460HZ
  • 1: MPU9X50_ACC_LPF_184HZ
  • 2: MPU9X50_ACC_LPF_92HZ
  • 3: MPU9X50_ACC_LPF_41HZ
  • 4: MPU9X50_ACC_LPF_20HZ
  • 5: MPU9X50_ACC_LPF_10HZ
  • 6: MPU9X50_ACC_LPF_5HZ
  • 7: MPU9X50_ACC_LPF_460HZ_NOLPF
4
MPU_SAMPLE_R_ENM (INT32)

Sample rate in Hz

Values:
  • 0: MPU9x50_SAMPLE_RATE_100HZ
  • 1: MPU9x50_SAMPLE_RATE_200HZ
  • 2: MPU9x50_SAMPLE_RATE_500HZ
  • 3: MPU9x50_SAMPLE_RATE_1000HZ
2

Mission

NameDescriptionMin > Max (Incr.)DefaultUnits
COM_OBL_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:
  • 0: Land at current position
  • 1: Loiter
  • 2: Return to Land

Module: src/modules/commander

0
COM_OBL_RC_ACT (INT32)

Set offboard loss failsafe mode when RC is available

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

Values:
  • 0: Position control
  • 1: Altitude control
  • 2: Manual
  • 3: Return to Land
  • 4: Land at current position

Module: src/modules/commander

0
NAV_LOITER_RAD (FLOAT)

Loiter radius (FW only)

Comment: Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).

Module: src/modules/navigator

25 > 1000 (0.5) 50.0 m
NAV_ACC_RAD (FLOAT)

Acceptance Radius

Comment: Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.

Module: src/modules/navigator

0.05 > 200.0 (0.5) 10.0 m
NAV_FW_ALT_RAD (FLOAT)

FW Altitude Acceptance Radius

Comment: Acceptance radius for fixedwing altitude.

Module: src/modules/navigator

0.05 > 200.0 (0.5) 10.0 m
NAV_MC_ALT_RAD (FLOAT)

MC Altitude Acceptance Radius

Comment: Acceptance radius for multicopter altitude.

Module: src/modules/navigator

0.05 > 200.0 (0.5) 0.8 m
NAV_DLL_ACT (INT32)

Set data link loss failsafe mode

Comment: The data link 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. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

Values:
  • 0: Disabled
  • 1: Loiter
  • 2: Return to Land
  • 3: Land at current position
  • 4: Data Link Auto Recovery (CASA Outback Challenge rules)
  • 5: Terminate
  • 6: Lockdown

Module: src/modules/navigator

0
NAV_RCL_ACT (INT32)

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. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

Values:
  • 0: Disabled
  • 1: Loiter
  • 2: Return to Land
  • 3: Land at current position
  • 4: RC Auto Recovery (CASA Outback Challenge rules)
  • 5: Terminate
  • 6: Lockdown

Module: src/modules/navigator

2
NAV_FORCE_VT (INT32)

Force VTOL mode takeoff and land

Module: src/modules/navigator

1
MIS_TAKEOFF_ALT (FLOAT)

Take-off altitude

Comment: This is the minimum altitude the system will take off to.

Module: src/modules/navigator

0 > 80 (0.5) 2.5 m
MIS_LTRMIN_ALT (FLOAT)

Minimum Loiter altitude

Comment: This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.

Module: src/modules/navigator

0 > 80 (0.5) 1.2 m
MIS_ONBOARD_EN (INT32)

Persistent onboard mission storage

Comment: When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently.

Module: src/modules/navigator

1
MIS_DIST_1WP (FLOAT)

Maximal horizontal distance from home 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_DIS_1WP from the home position.

Module: src/modules/navigator

0 > 1000 (0.5) 900 m
MIS_ALTMODE (INT32)

Altitude setpoint mode

Comment: 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode

Values:
  • 0: Zero Order Hold
  • 1: First Order Hold

Module: src/modules/navigator

0 > 1 1
MIS_YAWMODE (INT32)

Multirotor only. Yaw setpoint mode

Comment: The values are defined in the enum mission_altitude_mode

Values:
  • 0: Heading as set by waypoint
  • 1: Heading towards waypoint
  • 2: Heading towards home
  • 3: Heading away from home

Module: src/modules/navigator

0 > 3 1
MIS_YAW_TMT (FLOAT)

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 transiton. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.

Module: src/modules/navigator

-1 > 20 (1) -1.0 s
MIS_YAW_ERR (FLOAT)

Max yaw error in degrees needed for waypoint heading acceptance

Module: src/modules/navigator

0 > 90 (1) 12.0 deg
VT_WV_LND_EN (INT32)

Weather-vane mode landings for missions

Module: src/modules/navigator

0
VT_WV_TKO_EN (INT32)

Enable weather-vane mode takeoff for missions

Module: src/modules/navigator

0
VT_WV_LTR_EN (INT32)

Weather-vane mode for loiter

Module: src/modules/navigator

0

Mount

The module where these parameters are defined is: src/drivers/vmount.

NameDescriptionMin > Max (Incr.)DefaultUnits
MNT_MODE_IN (INT32)

Mount input mode RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount

Values:
  • -1: DISABLED
  • 0: AUTO
  • 1: RC
  • 2: MAVLINK_ROI
  • 3: MAVLINK_DO_MOUNT

Reboot required: true

-1 > 3 -1
MNT_MODE_OUT (INT32)

Mount output mode AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)

Values:
  • 0: AUX
  • 1: MAVLINK
0 > 1 0
MNT_MAV_SYSID (INT32)

Mavlink System ID (if MNT_MODE_OUT is MAVLINK)

71
MNT_MAV_COMPID (INT32)

Mavlink Component ID (if MNT_MODE_OUT is MAVLINK)

67
MNT_OB_NORM_MODE (FLOAT)

Mixer value for selecting normal mode if required by the gimbal (only in AUX output mode)

-1.0 > 1.0 -1.0
MNT_OB_LOCK_MODE (FLOAT)

Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode)

-1.0 > 1.0 0.0
MNT_MAN_ROLL (INT32)

Auxiliary channel to control roll (in AUX input or manual mode)

Values:
  • 0: Disable
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
0 > 5 0
MNT_MAN_PITCH (INT32)

Auxiliary channel to control pitch (in AUX input or manual mode)

Values:
  • 0: Disable
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
0 > 5 0
MNT_MAN_YAW (INT32)

Auxiliary channel to control yaw (in AUX input or manual mode)

Values:
  • 0: Disable
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
0 > 5 0

Multicopter Attitude Control

NameDescriptionMin > Max (Incr.)DefaultUnits
MP_ROLL_P (FLOAT)

Roll P gain

Comment: Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 6.0
MP_ROLLRATE_P (FLOAT)

Roll rate P gain

Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.1
MP_ROLLRATE_I (FLOAT)

Roll rate I gain

Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_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.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.002
MP_PITCH_P (FLOAT)

Pitch P gain

Comment: Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 6.0 1/s
MP_PITCHRATE_P (FLOAT)

Pitch rate P gain

Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.1
MP_PITCHRATE_I (FLOAT)

Pitch rate I gain

Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_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.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.002
MP_YAW_P (FLOAT)

Yaw P gain

Comment: Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 2.0 1/s
MP_YAWRATE_P (FLOAT)

Yaw rate P gain

Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.3
MP_YAWRATE_I (FLOAT)

Yaw rate I gain

Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_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.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_YAW_FF (FLOAT)

Yaw feed forward

Comment: Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module: src/examples/mc_att_control_multiplatform

0.0 > 1.0 0.5
MP_YAWRATE_MAX (FLOAT)

Max yaw rate

Comment: Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.

Module: src/examples/mc_att_control_multiplatform

0.0 > 360.0 60.0 deg/s
MP_ACRO_R_MAX (FLOAT)

Max acro roll rate

Module: src/examples/mc_att_control_multiplatform

0.0 > 360.0 35.0 deg/s
MP_ACRO_P_MAX (FLOAT)

Max acro pitch rate

Module: src/examples/mc_att_control_multiplatform

0.0 > 360.0 35.0 deg/s
MP_ACRO_Y_MAX (FLOAT)

Max acro yaw rate

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 120.0 deg/s
MPP_MAN_R_MAX (FLOAT)

Max manual roll

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 35.0 deg
MPP_MAN_P_MAX (FLOAT)

Max manual pitch

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 35.0 deg
MPP_MAN_Y_MAX (FLOAT)

Max manual yaw rate

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 120.0 deg/s
MC_ROLL_TC (FLOAT)

Roll time constant

Comment: Reduce if the system is too twitchy, increase if the response is too slow and sluggish.

Module: src/modules/mc_att_control

0.15 > 0.25 (0.01) 0.2 s
MC_PITCH_TC (FLOAT)

Pitch time constant

Comment: Reduce if the system is too twitchy, increase if the response is too slow and sluggish.

Module: src/modules/mc_att_control

0.15 > 0.25 (0.01) 0.2 s
MC_ROLL_P (FLOAT)

Roll P gain

Comment: Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/modules/mc_att_control

0.0 > 8 (0.1) 6.5 1/s
MC_ROLLRATE_P (FLOAT)

Roll rate P gain

Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/modules/mc_att_control

0.0 > 0.5 (0.01) 0.15
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.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.05
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.

Module: src/modules/mc_att_control

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.

Module: src/modules/mc_att_control

0.0 > 0.01 (0.0005) 0.003
MC_ROLLRATE_FF (FLOAT)

Roll rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

0.0 > ? 0.0
MC_PITCH_P (FLOAT)

Pitch P gain

Comment: Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/modules/mc_att_control

0.0 > 10 (0.1) 6.5 1/s
MC_PITCHRATE_P (FLOAT)

Pitch rate P gain

Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/modules/mc_att_control

0.0 > 0.6 (0.01) 0.15
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.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.05
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.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.30
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.

Module: src/modules/mc_att_control

0.0 > ? (0.0005) 0.003
MC_PITCHRATE_FF (FLOAT)

Pitch rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

0.0 > ? 0.0
MC_YAW_P (FLOAT)

Yaw P gain

Comment: Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/modules/mc_att_control

0.0 > 5 (0.1) 2.8 1/s
MC_YAWRATE_P (FLOAT)

Yaw rate P gain

Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/modules/mc_att_control

0.0 > 0.6 (0.01) 0.2
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.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.1
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.

Module: src/modules/mc_att_control

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.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.0
MC_YAWRATE_FF (FLOAT)

Yaw rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.0
MC_YAW_FF (FLOAT)

Yaw feed forward

Comment: Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module: src/modules/mc_att_control

0.0 > 1.0 (0.01) 0.5
MC_ROLLRATE_MAX (FLOAT)

Max roll rate

Comment: Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.

Module: src/modules/mc_att_control

0.0 > 360.0 (5) 220.0 deg/s
MC_PITCHRATE_MAX (FLOAT)

Max pitch rate

Comment: Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.

Module: src/modules/mc_att_control

0.0 > 360.0 (5) 220.0 deg/s
MC_YAWRATE_MAX (FLOAT)

Max yaw rate

Comment: A value of significantly over 120 degrees per second can already lead to mixer saturation.

Module: src/modules/mc_att_control

0.0 > 360.0 (5) 200.0 deg/s
MC_YAWRAUTO_MAX (FLOAT)

Max yaw rate in auto mode

Comment: Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of significantly over 60 degrees per second can already lead to mixer saturation. A value of 30 degrees / second is recommended to avoid very audible twitches.

Module: src/modules/mc_att_control

0.0 > 120.0 (5) 45.0 deg/s
MC_ACRO_R_MAX (FLOAT)

Max acro roll rate

Module: src/modules/mc_att_control

0.0 > 1000.0 (5) 360.0 deg/s
MC_ACRO_P_MAX (FLOAT)

Max acro pitch rate

Module: src/modules/mc_att_control

0.0 > 1000.0 (5) 360.0 deg/s
MC_ACRO_Y_MAX (FLOAT)

Max acro yaw rate

Module: src/modules/mc_att_control

0.0 > 1000.0 (5) 360.0 deg/s
MC_RATT_TH (FLOAT)

Threshold for Rattitude mode

Comment: Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints

Module: src/modules/mc_att_control

0.0 > 1.0 (0.01) 0.8
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.

Module: src/modules/mc_att_control

0
MC_TPA_BREAK_P (FLOAT)

TPA P Breakpoint

Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain

Module: src/modules/mc_att_control

0.0 > 1.0 (0.1) 1.0
MC_TPA_BREAK_I (FLOAT)

TPA I Breakpoint

Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain

Module: src/modules/mc_att_control

0.0 > 1.0 (0.1) 1.0
MC_TPA_BREAK_D (FLOAT)

TPA D Breakpoint

Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain

Module: src/modules/mc_att_control

0.0 > 1.0 (0.1) 1.0
MC_TPA_RATE_P (FLOAT)

TPA Rate P

Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))

Module: src/modules/mc_att_control

0.0 > 1.0 (0.05) 0.0
MC_TPA_RATE_I (FLOAT)

TPA Rate I

Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch I gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))

Module: src/modules/mc_att_control

0.0 > 1.0 (0.05) 0.0
MC_TPA_RATE_D (FLOAT)

TPA Rate D

Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))

Module: src/modules/mc_att_control

0.0 > 1.0 (0.05) 0.0

Multicopter Position Control

NameDescriptionMin > Max (Incr.)DefaultUnits
MPP_THR_MIN (FLOAT)

Minimum thrust

Comment: Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 0.1
MPP_THR_MAX (FLOAT)

Maximum thrust

Comment: Limit max allowed thrust.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 1.0
MPP_Z_P (FLOAT)

Proportional gain for vertical position error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 1.0
MPP_Z_VEL_P (FLOAT)

Proportional gain for vertical velocity error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.1
MPP_Z_VEL_I (FLOAT)

Integral gain for vertical velocity error

Comment: Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.02
MPP_Z_VEL_D (FLOAT)

Differential gain for vertical velocity error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.0
MPP_Z_VEL_MAX (FLOAT)

Maximum vertical velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 5.0 m/s
MPP_Z_FF (FLOAT)

Vertical velocity feed forward

Comment: Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 0.5
MPP_XY_P (FLOAT)

Proportional gain for horizontal position error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 1.0
MPP_XY_VEL_P (FLOAT)

Proportional gain for horizontal velocity error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.1
MPP_XY_VEL_I (FLOAT)

Integral gain for horizontal velocity error

Comment: Non-zero value allows to resist wind.

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.02
MPP_XY_VEL_D (FLOAT)

Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.01
MPP_XY_VEL_MAX (FLOAT)

Maximum horizontal velocity

Comment: Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 5.0 m/s
MPP_XY_FF (FLOAT)

Horizontal velocity feed forward

Comment: Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 0.5
MPP_TILTMAX_AIR (FLOAT)

Maximum tilt angle in air

Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 45.0 deg
MPP_TILTMAX_LND (FLOAT)

Maximum tilt during landing

Comment: Limits maximum tilt angle on landing.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 15.0 deg
MPP_LAND_SPEED (FLOAT)

Landing descend rate

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 1.0 m/s
MPC_THR_MIN (FLOAT)

Minimum thrust in auto thrust control

Comment: It's recommended to set it > 0 to avoid free fall with zero thrust.

Module: src/modules/mc_pos_control

0.05 > 1.0 (0.01) 0.12 norm
MPC_THR_HOVER (FLOAT)

Hover thrust

Comment: Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed.

Module: src/modules/mc_pos_control

0.2 > 0.8 (0.01) 0.5 norm
MPC_THR_MAX (FLOAT)

Maximum thrust in auto thrust control

Comment: Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.

Module: src/modules/mc_pos_control

0.0 > 0.95 (0.01) 0.9 norm
MPC_MANTHR_MIN (FLOAT)

Minimum manual thrust

Comment: Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.

Module: src/modules/mc_pos_control

0.0 > 1.0 (0.01) 0.08 norm
MPC_MANTHR_MAX (FLOAT)

Maximum manual thrust

Comment: Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.

Module: src/modules/mc_pos_control

0.0 > 1.0 (0.01) 0.9 norm
MPC_Z_P (FLOAT)

Proportional gain for vertical position error

Module: src/modules/mc_pos_control

0.0 > 1.5 1.0
MPC_Z_VEL_P (FLOAT)

Proportional gain for vertical velocity error

Module: src/modules/mc_pos_control

0.1 > 0.4 0.2
MPC_Z_VEL_I (FLOAT)

Integral gain for vertical velocity error

Comment: Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.

Module: src/modules/mc_pos_control

0.01 > 0.1 0.02
MPC_Z_VEL_D (FLOAT)

Differential gain for vertical velocity error

Module: src/modules/mc_pos_control

0.0 > 0.1 0.0
MPC_Z_VEL_MAX_UP (FLOAT)

Maximum vertical ascent velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

Module: src/modules/mc_pos_control

0.5 > 8.0 3.0 m/s
MPC_Z_VEL_MAX_DN (FLOAT)

Maximum vertical descent velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

Module: src/modules/mc_pos_control

0.5 > 4.0 1.0 m/s
MPC_Z_FF (FLOAT)

Vertical velocity feed forward

Comment: Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module: src/modules/mc_pos_control

0.0 > 1.0 0.5
MPC_XY_P (FLOAT)

Proportional gain for horizontal position error

Module: src/modules/mc_pos_control

0.0 > 2.0 0.95
MPC_XY_VEL_P (FLOAT)

Proportional gain for horizontal velocity error

Module: src/modules/mc_pos_control

0.06 > 0.15 0.09
MPC_XY_VEL_I (FLOAT)

Integral gain for horizontal velocity error

Comment: Non-zero value allows to resist wind.

Module: src/modules/mc_pos_control

0.0 > 0.1 0.02
MPC_XY_VEL_D (FLOAT)

Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again

Module: src/modules/mc_pos_control

0.005 > 0.1 0.01
MPC_XY_CRUISE (FLOAT)

Nominal horizontal velocity in mission

Comment: Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).

Module: src/modules/mc_pos_control

3.0 > 20.0 (1) 5.0 m/s
MPC_VEL_MAN_MAX (FLOAT)

Nominal horizontal velocity for manual controlled mode

Module: src/modules/mc_pos_control

3.0 > 20.0 (1) 10.0 m/s
MPC_TARGET_THRE (FLOAT)

Distance Threshold Horizontal Auto

Comment: The distance defines at which point the vehicle has to slow down to reach target if no direct passing to the next target is desired

Module: src/modules/mc_pos_control

1.0 > 50.0 (1) 15.0 m
MPC_XY_VEL_MAX (FLOAT)

Maximum horizontal velocity

Comment: Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.

Module: src/modules/mc_pos_control

0.0 > 20.0 (1) 8.0 m/s
MPC_XY_FF (FLOAT)

Horizontal velocity feed forward

Comment: Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module: src/modules/mc_pos_control

0.0 > 1.0 0.5
MPC_TILTMAX_AIR (FLOAT)

Maximum tilt angle in air

Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.

Module: src/modules/mc_pos_control

0.0 > 90.0 45.0 deg
MPC_TILTMAX_LND (FLOAT)

Maximum tilt during landing

Comment: Limits maximum tilt angle on landing.

Module: src/modules/mc_pos_control

0.0 > 90.0 12.0 deg
MPC_LAND_SPEED (FLOAT)

Landing descend rate

Module: src/modules/mc_pos_control

0.2 > ? 0.5 m/s
MPC_TKO_SPEED (FLOAT)

Takeoff climb rate

Module: src/modules/mc_pos_control

1 > 5 1.5 m/s
MPC_MAN_TILT_MAX (FLOAT)

Maximal tilt angle in manual or altitude mode

Module: src/modules/mc_pos_control

0.0 > 90.0 35.0 deg
MPC_MAN_Y_MAX (FLOAT)

Max manual yaw rate

Module: src/modules/mc_pos_control

0.0 > 400 200.0 deg/s
MPC_HOLD_DZ (FLOAT)

Deadzone of sticks where position hold is enabled

Module: src/modules/mc_pos_control

0.0 > 1.0 0.1
MPC_HOLD_MAX_XY (FLOAT)

Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)

Module: src/modules/mc_pos_control

0.0 > 3.0 0.8 m/s
MPC_HOLD_MAX_Z (FLOAT)

Maximum vertical velocity for which position hold is enabled (use 0 to disable check)

Module: src/modules/mc_pos_control

0.0 > 3.0 0.6 m/s
MPC_VELD_LP (FLOAT)

Low pass filter cut freq. for numerical velocity derivative

Module: src/modules/mc_pos_control

0.0 > 10 5.0 Hz
MPC_ACC_HOR_MAX (FLOAT)

Maximum horizonal acceleration in velocity controlled modes

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 5.0 m/s/s
MPC_DEC_HOR_MAX (FLOAT)

Maximum horizonal braking deceleration in velocity controlled modes

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 10.0 m/s/s
MPC_ACC_UP_MAX (FLOAT)

Maximum vertical acceleration in velocity controlled modes upward

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 5.0 m/s/s
MPC_ACC_DOWN_MAX (FLOAT)

Maximum vertical acceleration in velocity controlled modes down

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 5.0 m/s/s
MPC_ALT_MODE (INT32)

Altitude control mode, note mode 1 only tested with LPE

Values:
  • 0: Altitude following
  • 1: Terrain following

Module: src/modules/mc_pos_control

0 > 1 0
MPC_XY_MAN_EXPO (FLOAT)

Manual control stick exponential curve sensitivity attenuation with small velocity setpoints

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 (default) 1 Purely cubic input curve

Module: src/modules/mc_pos_control

0 > 1 0.0
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 (default) 1 Purely cubic input curve

Module: src/modules/mc_pos_control

0 > 1 0.0
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" and "MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2"

Module: src/modules/mc_pos_control

0 > 122 10.0 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"

Module: src/modules/mc_pos_control

0 > 122 5.0 m

PWM Outputs

NameDescriptionMin > Max (Incr.)DefaultUnits
PWM_RATE (INT32)

Set the PWM output frequency for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

Reboot required: true

Module: src/modules/sensors

-1 > 2000 400 Hz
PWM_MIN (INT32)

Set the minimum PWM for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 1000 for industry default or 900 to increase servo travel.

Reboot required: true

Module: src/modules/sensors

800 > 1400 1000 us
PWM_MAX (INT32)

Set the maximum PWM for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 2000 for industry default or 2100 to increase servo travel.

Reboot required: true

Module: src/modules/sensors

1600 > 2200 2000 us
PWM_DISARMED (INT32)

Set the disarmed PWM for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

Reboot required: true

Module: src/modules/sensors

0 > 2200 900 us
PWM_AUX_MIN (INT32)

Set the minimum PWM for the auxiliary outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 1000 for default or 900 to increase servo travel

Reboot required: true

Module: src/modules/sensors

800 > 1400 1000 us
PWM_AUX_MAX (INT32)

Set the maximum PWM for the auxiliary outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 2000 for default or 2100 to increase servo travel

Reboot required: true

Module: src/modules/sensors

1600 > 2200 2000 us
PWM_AUX_DISARMED (INT32)

Set the disarmed PWM for auxiliary outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

Reboot required: true

Module: src/modules/sensors

0 > 2200 1500 us
THR_MDL_FAC (FLOAT)

Thrust to PWM model parameter

Comment: Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2

Module: src/modules/sensors

0.0 > 1.0 0.0
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 maximum x seconds. Zero means that slew rate limiting is disabled.

Module: src/modules/sensors

0.0 > ? 0.0 s/(1000*PWM)
PWM_MAIN_REV1 (INT32)

Invert direction of main output channel 1

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV2 (INT32)

Invert direction of main output channel 2

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV3 (INT32)

Invert direction of main output channel 3

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV4 (INT32)

Invert direction of main output channel 4

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV5 (INT32)

Invert direction of main output channel 5

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV6 (INT32)

Invert direction of main output channel 6

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV7 (INT32)

Invert direction of main output channel 7

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV8 (INT32)

Invert direction of main output channel 8

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_TRIM1 (FLOAT)

Trim value for main output channel 1

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM2 (FLOAT)

Trim value for main output channel 2

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM3 (FLOAT)

Trim value for main output channel 3

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM4 (FLOAT)

Trim value for main output channel 4

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM5 (FLOAT)

Trim value for main output channel 5

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM6 (FLOAT)

Trim value for main output channel 6

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM7 (FLOAT)

Trim value for main output channel 7

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM8 (FLOAT)

Trim value for main output channel 8

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_SBUS_MODE (INT32)

S.BUS out

Comment: Set to 1 to enable S.BUS version 1 output instead of RSSI.

Module: src/drivers/px4io

0
PWM_AUX_REV1 (INT32)

Invert direction of aux output channel 1

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV2 (INT32)

Invert direction of aux output channel 2

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV3 (INT32)

Invert direction of aux output channel 3

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV4 (INT32)

Invert direction of aux output channel 4

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV5 (INT32)

Invert direction of aux output channel 5

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV6 (INT32)

Invert direction of aux output channel 6

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_TRIM1 (FLOAT)

Trim value for FMU PWM output channel 1

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM2 (FLOAT)

Trim value for FMU PWM output channel 2

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM3 (FLOAT)

Trim value for FMU PWM output channel 3

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM4 (FLOAT)

Trim value for FMU PWM output channel 4

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM5 (FLOAT)

Trim value for FMU PWM output channel 5

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM6 (FLOAT)

Trim value for FMU PWM output channel 6

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0

Payload drop

The module where these parameters are defined is: src/modules/bottle_drop.

NameDescriptionMin > Max (Incr.)DefaultUnits
BD_GPROPERTIES (FLOAT)

Ground drag property

Comment: This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.

0.001 > 0.1 0.03
BD_TURNRADIUS (FLOAT)

Plane turn radius

Comment: The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop.

30.0 > 500.0 120.0 m
BD_PRECISION (FLOAT)

Drop precision

Comment: If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy.

1.0 > 80.0 30.0 m
BD_OBJ_CD (FLOAT)

Payload drag coefficient of the dropped object

Comment: The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient

0.08 > 1.5 0.1
BD_OBJ_MASS (FLOAT)

Payload mass

Comment: A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg

0.001 > 5.0 0.6 kg
BD_OBJ_SURFACE (FLOAT)

Payload front surface area

Comment: A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2

0.001 > 0.5 0.00311724531 m^2

Position Estimator

The module where these parameters are defined is: src/examples/ekf_att_pos_estimator.

NameDescriptionMin > Max (Incr.)DefaultUnits
PE_VEL_DELAY_MS (INT32)

Velocity estimate delay

Comment: The delay in milliseconds of the velocity estimate from GPS.

0 > 1000 230 ms
PE_POS_DELAY_MS (INT32)

Position estimate delay

Comment: The delay in milliseconds of the position estimate from GPS.

0 > 1000 210 ms
PE_HGT_DELAY_MS (INT32)

Height estimate delay

Comment: The delay in milliseconds of the height estimate from the barometer.

0 > 1000 350 ms
PE_MAG_DELAY_MS (INT32)

Mag estimate delay

Comment: The delay in milliseconds of the magnetic field estimate from the magnetometer.

0 > 1000 30 ms
PE_TAS_DELAY_MS (INT32)

True airspeeed estimate delay

Comment: The delay in milliseconds of the airspeed estimate.

0 > 1000 210 ms
PE_GPS_ALT_WGT (FLOAT)

GPS vs. barometric altitude update weight

Comment: RE-CHECK this.

0.0 > 1.0 0.9
PE_EAS_NOISE (FLOAT)

Airspeed measurement noise

Comment: Increasing this value will make the filter trust this sensor less and trust other sensors more.

0.5 > 5.0 1.4
PE_VELNE_NOISE (FLOAT)

Velocity measurement noise in north-east (horizontal) direction

Comment: Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5

0.05 > 5.0 0.3
PE_VELD_NOISE (FLOAT)

Velocity noise in down (vertical) direction

Comment: Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7

0.2 > 3.0 0.3
PE_POSNE_NOISE (FLOAT)

Position noise in north-east (horizontal) direction

Comment: Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5

0.1 > 10.0 0.5
PE_POSD_NOISE (FLOAT)

Position noise in down (vertical) direction

Comment: Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0

0.5 > 3.0 1.25
PE_MAG_NOISE (FLOAT)

Magnetometer measurement noise

Comment: Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05

0.01 > 1.0 0.05
PE_GYRO_PNOISE (FLOAT)

Gyro process noise

Comment: Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more.

0.001 > 0.05 0.015
PE_ACC_PNOISE (FLOAT)

Accelerometer process noise

Comment: Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more.

0.05 > 1.0 0.125
PE_GBIAS_PNOISE (FLOAT)

Gyro bias estimate process noise

Comment: Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier.

0.00000005 > 0.00001 1e-07
PE_ABIAS_PNOISE (FLOAT)

Accelerometer bias estimate process noise

Comment: Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier.

0.00001 > 0.001 1e-05
PE_MAGE_PNOISE (FLOAT)

Magnetometer earth frame offsets process noise

Comment: Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier.

0.0001 > 0.01 0.0003
PE_MAGB_PNOISE (FLOAT)

Magnetometer body frame offsets process noise

Comment: Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier.

0.0001 > 0.01 0.0003
PE_MAGB_X (FLOAT)

Magnetometer X bias

Comment: The magnetometer bias. This bias is learnt by the filter over time and persists between boots.

-0.6 > 0.6 0.0
PE_MAGB_Y (FLOAT)

Magnetometer Y bias

Comment: The magnetometer bias. This bias is learnt by the filter over time and persists between boots.

-0.6 > 0.6 0.0
PE_MAGB_Z (FLOAT)

Magnetometer Z bias

Comment: The magnetometer bias. This bias is learnt by the filter over time and persists between boots.

-0.6 > 0.6 0.0
PE_POSDEV_INIT (FLOAT)

Threshold for filter initialization

Comment: If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize.

0.3 > 10.0 5.0

Position Estimator INAV

The module where these parameters are defined is: src/modules/position_estimator_inav.

NameDescriptionMin > Max (Incr.)DefaultUnits
INAV_W_Z_BARO (FLOAT)

Z axis weight for barometer

Comment: Weight (cutoff frequency) for barometer altitude measurements.

0.0 > 10.0 0.5
INAV_W_Z_GPS_P (FLOAT)

Z axis weight for GPS

Comment: Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.

0.0 > 10.0 0.005
INAV_W_Z_GPS_V (FLOAT)

Z velocity weight for GPS

Comment: Weight (cutoff frequency) for GPS altitude velocity measurements.

0.0 > 10.0 0.0
INAV_W_Z_VIS_P (FLOAT)

Z axis weight for vision

Comment: Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.

0.0 > 10.0 5.0
INAV_W_Z_LIDAR (FLOAT)

Z axis weight for lidar

Comment: Weight (cutoff frequency) for lidar measurements.

0.0 > 10.0 3.0
INAV_W_XY_GPS_P (FLOAT)

XY axis weight for GPS position

Comment: Weight (cutoff frequency) for GPS position measurements.

0.0 > 10.0 1.0
INAV_W_XY_GPS_V (FLOAT)

XY axis weight for GPS velocity

Comment: Weight (cutoff frequency) for GPS velocity measurements.

0.0 > 10.0 2.0
INAV_W_XY_VIS_P (FLOAT)

XY axis weight for vision position

Comment: Weight (cutoff frequency) for vision position measurements.

0.0 > 10.0 7.0
INAV_W_XY_VIS_V (FLOAT)

XY axis weight for vision velocity

Comment: Weight (cutoff frequency) for vision velocity measurements.

0.0 > 10.0 0.0
INAV_W_MOC_P (FLOAT)

Weight for mocap system

Comment: Weight (cutoff frequency) for mocap position measurements.

0.0 > 10.0 10.0
INAV_W_XY_FLOW (FLOAT)

XY axis weight for optical flow

Comment: Weight (cutoff frequency) for optical flow (velocity) measurements.

0.0 > 10.0 0.8
INAV_W_XY_RES_V (FLOAT)

XY axis weight for resetting velocity

Comment: When velocity sources lost slowly decrease estimated horizontal velocity with this weight.

0.0 > 10.0 0.5
INAV_W_GPS_FLOW (FLOAT)

XY axis weight factor for GPS when optical flow available

Comment: When optical flow data available, multiply GPS weights (for position and velocity) by this factor.

0.0 > 1.0 0.1
INAV_W_ACC_BIAS (FLOAT)

Accelerometer bias estimation weight

Comment: Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.

0.0 > 0.1 0.05
INAV_FLOW_K (FLOAT)

Optical flow scale factor

Comment: Factor to scale optical flow

0.0 > 10.0 1.35
INAV_FLOW_Q_MIN (FLOAT)

Minimal acceptable optical flow quality

Comment: 0 - lowest quality, 1 - best quality.

0.0 > 1.0 0.3
INAV_LIDAR_ERR (FLOAT)

Sonar maximal error for new surface

Comment: If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).

0.0 > 1.0 0.2 m
INAV_LAND_T (FLOAT)

Land detector time

Comment: Vehicle assumed landed if no altitude changes happened during this time on low throttle.

0.0 > 10.0 3.0 s
INAV_LAND_DISP (FLOAT)

Land detector altitude dispersion threshold

Comment: Dispersion threshold for triggering land detector.

0.0 > 10.0 0.7 m
INAV_LAND_THR (FLOAT)

Land detector throttle threshold

Comment: Value should be lower than minimal hovering thrust. Half of it is good choice.

0.0 > 1.0 0.2
INAV_DELAY_GPS (FLOAT)

GPS delay

Comment: GPS delay compensation

0.0 > 1.0 0.2 s
INAV_FLOW_DIST_X (FLOAT)

Flow module offset (center of rotation) in X direction

Comment: Yaw X flow compensation

-1.0 > 1.0 0.0 m
INAV_FLOW_DIST_Y (FLOAT)

Flow module offset (center of rotation) in Y direction

Comment: Yaw Y flow compensation

-1.0 > 1.0 0.0 m
INAV_DISAB_MOCAP (FLOAT)

Mo-cap

Comment: Set to 0 if using fake GPS

Values:
  • 0: Mo-cap enabled
  • 1: Mo-cap disabled
0
INAV_LIDAR_EST (FLOAT)

LIDAR for altitude estimation

0
INAV_LIDAR_OFF (FLOAT)

LIDAR calibration offset

Comment: LIDAR calibration offset. Value will be added to the measured distance

-20 > 20 0.0 m
CBRK_NO_VISION (INT32)

Disable vision input

Comment: Set to the appropriate key (328754) to disable vision input.

Reboot required: true

0 > 328754 0

RC Receiver Configuration

The module where these parameters are defined is: src/platforms/qurt/fc_addon/rc_receiver.

NameDescriptionMin > Max (Incr.)DefaultUnits
RC_RECEIVER_TYPE (INT32)

RC receiver type

Comment: Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2,

1

Radio Calibration

NameDescriptionMin > Max (Incr.)DefaultUnits
RC1_MIN (FLOAT)

RC Channel 1 Minimum

Comment: Minimum value for RC channel 1

Module: src/modules/sensors

800.0 > 1500.0 1000.0 us
RC1_TRIM (FLOAT)

RC Channel 1 Trim

Comment: Mid point value (same as min for throttle)

Module: src/modules/sensors

800.0 > 2200.0 1500.0 us
RC1_MAX (FLOAT)

RC Channel 1 Maximum

Comment: Maximum value for RC channel 1

Module: src/modules/sensors

1500.0 > 2200.0 2000.0 us
RC1_REV (FLOAT)

RC Channel 1 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC1_DZ (FLOAT)

RC Channel 1 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0 us
RC2_MIN (FLOAT)

RC Channel 2 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000.0 us
RC2_TRIM (FLOAT)

RC Channel 2 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500.0 us
RC2_MAX (FLOAT)

RC Channel 2 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000.0 us
RC2_REV (FLOAT)

RC Channel 2 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC2_DZ (FLOAT)

RC Channel 2 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0 us
RC3_MIN (FLOAT)

RC Channel 3 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC3_TRIM (FLOAT)

RC Channel 3 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC3_MAX (FLOAT)

RC Channel 3 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC3_REV (FLOAT)

RC Channel 3 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC3_DZ (FLOAT)

RC Channel 3 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0 us
RC4_MIN (FLOAT)

RC Channel 4 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC4_TRIM (FLOAT)

RC Channel 4 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC4_MAX (FLOAT)

RC Channel 4 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC4_REV (FLOAT)

RC Channel 4 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC4_DZ (FLOAT)

RC Channel 4 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0 us
RC5_MIN (FLOAT)

RC Channel 5 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC5_TRIM (FLOAT)

RC Channel 5 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC5_MAX (FLOAT)

RC Channel 5 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC5_REV (FLOAT)

RC Channel 5 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC5_DZ (FLOAT)

RC Channel 5 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0
RC6_MIN (FLOAT)

RC Channel 6 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC6_TRIM (FLOAT)

RC Channel 6 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC6_MAX (FLOAT)

RC Channel 6 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC6_REV (FLOAT)

RC Channel 6 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC6_DZ (FLOAT)

RC Channel 6 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0
RC7_MIN (FLOAT)

RC Channel 7 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC7_TRIM (FLOAT)

RC Channel 7 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC7_MAX (FLOAT)

RC Channel 7 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC7_REV (FLOAT)

RC Channel 7 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC7_DZ (FLOAT)

RC Channel 7 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0
RC8_MIN (FLOAT)

RC Channel 8 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC8_TRIM (FLOAT)

RC Channel 8 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC8_MAX (FLOAT)

RC Channel 8 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC8_REV (FLOAT)

RC Channel 8 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC8_DZ (FLOAT)

RC Channel 8 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 10.0
RC9_MIN (FLOAT)

RC Channel 9 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC9_TRIM (FLOAT)

RC Channel 9 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC9_MAX (FLOAT)

RC Channel 9 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC9_REV (FLOAT)

RC Channel 9 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC9_DZ (FLOAT)

RC Channel 9 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC10_MIN (FLOAT)

RC Channel 10 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC10_TRIM (FLOAT)

RC Channel 10 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC10_MAX (FLOAT)

RC Channel 10 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC10_REV (FLOAT)

RC Channel 10 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC10_DZ (FLOAT)

RC Channel 10 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC11_MIN (FLOAT)

RC Channel 11 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC11_TRIM (FLOAT)

RC Channel 11 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC11_MAX (FLOAT)

RC Channel 11 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC11_REV (FLOAT)

RC Channel 11 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC11_DZ (FLOAT)

RC Channel 11 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC12_MIN (FLOAT)

RC Channel 12 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC12_TRIM (FLOAT)

RC Channel 12 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC12_MAX (FLOAT)

RC Channel 12 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC12_REV (FLOAT)

RC Channel 12 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC12_DZ (FLOAT)

RC Channel 12 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC13_MIN (FLOAT)

RC Channel 13 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC13_TRIM (FLOAT)

RC Channel 13 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC13_MAX (FLOAT)

RC Channel 13 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC13_REV (FLOAT)

RC Channel 13 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC13_DZ (FLOAT)

RC Channel 13 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC14_MIN (FLOAT)

RC Channel 14 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC14_TRIM (FLOAT)

RC Channel 14 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC14_MAX (FLOAT)

RC Channel 14 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC14_REV (FLOAT)

RC Channel 14 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC14_DZ (FLOAT)

RC Channel 14 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC15_MIN (FLOAT)

RC Channel 15 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC15_TRIM (FLOAT)

RC Channel 15 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC15_MAX (FLOAT)

RC Channel 15 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC15_REV (FLOAT)

RC Channel 15 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC15_DZ (FLOAT)

RC Channel 15 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC16_MIN (FLOAT)

RC Channel 16 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC16_TRIM (FLOAT)

RC Channel 16 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC16_MAX (FLOAT)

RC Channel 16 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC16_REV (FLOAT)

RC Channel 16 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC16_DZ (FLOAT)

RC Channel 16 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC17_MIN (FLOAT)

RC Channel 17 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC17_TRIM (FLOAT)

RC Channel 17 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC17_MAX (FLOAT)

RC Channel 17 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC17_REV (FLOAT)

RC Channel 17 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC17_DZ (FLOAT)

RC Channel 17 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC18_MIN (FLOAT)

RC Channel 18 Minimum

Comment: Minimum value for this channel.

Module: src/modules/sensors

800.0 > 1500.0 1000 us
RC18_TRIM (FLOAT)

RC Channel 18 Trim

Comment: Mid point value (has to be set to the same as min for throttle channel).

Module: src/modules/sensors

800.0 > 2200.0 1500 us
RC18_MAX (FLOAT)

RC Channel 18 Maximum

Comment: Maximum value for this channel.

Module: src/modules/sensors

1500.0 > 2200.0 2000 us
RC18_REV (FLOAT)

RC Channel 18 Reverse

Comment: Set to -1 to reverse channel.

Module: src/modules/sensors

-1.0 > 1.0 1.0
RC18_DZ (FLOAT)

RC Channel 18 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

Module: src/modules/sensors

0.0 > 100.0 0.0
RC_RL1_DSM_VCC (INT32)

Relay control of relay 1 mapped to the Spektrum receiver power supply

Values:
  • 0: Disabled
  • 1: Relay controls DSM power

Module: src/modules/sensors

0 > 1 0
RC_DSM_BIND (INT32)

DSM binding trigger

Values:
  • -1: Inactive
  • 0: Start DSM2 bind
  • 1: Start DSMX bind

Module: src/modules/sensors

-1 > 1 -1
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.

Module: src/modules/sensors

0 > 18 0
RC_TH_USER (INT32)

RC mode switch threshold automatic distribution

Comment: This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use.

Module: src/modules/sensors

1
RC_MAP_ROLL (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_PITCH (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_THROTTLE (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_YAW (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_AUX1 (INT32)

AUX1 Passthrough RC Channel

Comment: Default function: Camera pitch

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_AUX2 (INT32)

AUX2 Passthrough RC Channel

Comment: Default function: Camera roll

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_AUX3 (INT32)

AUX3 Passthrough RC Channel

Comment: Default function: Camera azimuth / yaw

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_AUX4 (INT32)

AUX4 Passthrough RC Channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_AUX5 (INT32)

AUX5 Passthrough RC Channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_PARAM1 (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_PARAM2 (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_MAP_PARAM3 (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_FAILS_THR (INT32)

Failsafe channel PWM threshold

Comment: Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation.

Module: src/modules/sensors

0 > 2200 0 us
RC_RSSI_PWM_CHAN (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
RC_RSSI_PWM_MAX (INT32)

Max input value for RSSI reading

Comment: Only used if RC_RSSI_PWM_CHAN > 0

Module: src/modules/sensors

0 > 2000 1000
RC_RSSI_PWM_MIN (INT32)

Min input value for RSSI reading

Comment: Only used if RC_RSSI_PWM_CHAN > 0

Module: src/modules/sensors

0 > 2000 2000
RC_FLT_SMP_RATE (FLOAT)

Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle

Comment: Has an influence on the cutoff frequency precision.

Module: src/modules/sensors

1.0 > ? 50.0 Hz
RC_FLT_CUTOFF (FLOAT)

Cutoff frequency for the low pass filter on roll,pitch, yaw and throttle

Comment: Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics.

Module: src/modules/sensors

0.1 > ? 10.0 Hz
TRIM_ROLL (FLOAT)

Roll trim

Comment: The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.

Module: src/modules/commander

-0.25 > 0.25 (0.01) 0.0
TRIM_PITCH (FLOAT)

Pitch trim

Comment: The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.

Module: src/modules/commander

-0.25 > 0.25 (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. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.

Module: src/modules/commander

-0.25 > 0.25 (0.01) 0.0

Radio Signal Loss

The module where these parameters are defined is: src/modules/navigator.

NameDescriptionMin > Max (Incr.)DefaultUnits
NAV_RCL_LT (FLOAT)

Loiter Time

Comment: The amount of time in seconds the system should loiter at current position before termination Set to -1 to make the system skip loitering

-1.0 > ? (0.1) 120.0 s

Radio Switches

The module where these parameters are defined is: src/modules/sensors.

NameDescriptionMin > Max (Incr.)DefaultUnits
RC_MAP_FLTMODE (INT32)

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_MODE_SW (INT32)

Mode switch channel mapping

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:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_RETURN_SW (INT32)

Return switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_RATT_SW (INT32)

Rattitude switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_POSCTL_SW (INT32)

Position Control switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_LOITER_SW (INT32)

Loiter switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_ACRO_SW (INT32)

Acro switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_OFFB_SW (INT32)

Offboard switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_KILL_SW (INT32)

Kill switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_ARM_SW (INT32)

Arm switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_FLAPS (INT32)

Flaps channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_TRANS_SW (INT32)

VTOL transition switch channel mapping

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_GEAR_SW (INT32)

Landing gear switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_STAB_SW (INT32)

Stabilize switch channel mapping

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_MAN_SW (INT32)

Manual switch channel mapping

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_ASSIST_TH (FLOAT)

Threshold for selecting assist 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 0.25
RC_AUTO_TH (FLOAT)

Threshold for selecting auto 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_RATT_TH (FLOAT)

Threshold for selecting rattitude 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 0.5
RC_POSCTL_TH (FLOAT)

Threshold for selecting posctl 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 0.5
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 0.5
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 0.5
RC_ACRO_TH (FLOAT)

Threshold for selecting acro 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 0.5
RC_OFFB_TH (FLOAT)

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 0.5
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 0.25
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 0.25
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 0.25
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 0.25
RC_STAB_TH (FLOAT)

Threshold for the stabilize 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 0.5
RC_MAN_TH (FLOAT)

Threshold for the manual 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 0.5

Return To Land

The module where these parameters are defined is: src/modules/navigator.

NameDescriptionMin > Max (Incr.)DefaultUnits
RTL_RETURN_ALT (FLOAT)

RTL altitude

Comment: Altitude to fly back in RTL in meters

0 > 150 (0.5) 60 m
RTL_DESCEND_ALT (FLOAT)

RTL loiter altitude

Comment: Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.

2 > 100 (0.5) 30 m
RTL_LAND_DELAY (FLOAT)

RTL delay

Comment: Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.

-1 > 300 (0.5) -1.0 s
RTL_MIN_DIST (FLOAT)

Minimum distance to trigger rising to a safe altitude

Comment: If the system is horizontally closer than this distance to home it will land straight on home instead of raising to the return altitude first.

0.5 > 20 (0.5) 5.0 m

Runway Takeoff

The module where these parameters are defined is: src/lib/runway_takeoff.

NameDescriptionMin > Max (Incr.)DefaultUnits
RWTO_TKOFF (INT32)

Runway takeoff with landing gear

0
RWTO_HDG (INT32)

Specifies which heading should be held during runnway takeoff

Comment: 0: airframe heading, 1: heading towards takeoff waypoint

Values:
  • 0: Airframe
  • 1: Waypoint
0 > 1 0
RWTO_NAV_ALT (FLOAT)

Altitude AGL at which we have enough ground clearance to allow some roll. Until RWTO_NAV_ALT is reached the plane is held level and only rudder is used to keep the heading (see RWTO_HDG). This should be below FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0

0.0 > 100.0 (1) 5.0 m
RWTO_MAX_THR (FLOAT)

Max throttle during runway takeoff. (Can be used to test taxi on runway)

0.0 > 1.0 (0.01) 1.0 norm
RWTO_PSP (FLOAT)

Pitch setpoint during taxi / before takeoff airspeed is reached. A taildragger with stearable wheel might need to pitch up a little to keep it's wheel on the ground before airspeed to takeoff is reached

0.0 > 20.0 (0.5) 0.0 deg
RWTO_MAX_PITCH (FLOAT)

Max pitch during takeoff. Fixed-wing settings are used if set to 0. Note that there is also a minimum pitch of 10 degrees during takeoff, so this must be larger if set

0.0 > 60.0 (0.5) 20.0 deg
RWTO_MAX_ROLL (FLOAT)

Max roll during climbout. Roll is limited during climbout to ensure enough lift and prevents aggressive navigation before we're on a safe height

0.0 > 60.0 (0.5) 25.0 deg
RWTO_AIRSPD_SCL (FLOAT)

Min. airspeed scaling factor for takeoff. Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL

0.0 > 2.0 (0.01) 1.3 norm

SD Logging

NameDescriptionMin > Max (Incr.)DefaultUnits
SDLOG_RATE (INT32)

Logging rate

Comment: A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming).

Module: src/modules/sdlog2

-1 > 250 -1 Hz
SDLOG_EXT (INT32)

Extended logging mode

Comment: A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming).

Values:
  • -1: Command Line
  • 0: Disable
  • 1: Enable

Module: src/modules/sdlog2

-1 > 1 -1
SDLOG_GPSTIME (INT32)

Use timestamps only if GPS 3D fix is available

Comment: Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present.

Module: src/modules/sdlog2

1
SDLOG_PRIO_BOOST (INT32)

Give logging app higher thread priority to avoid data loss. This is used for gathering replay logs for the ekf2 module

Comment: A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority.

Values:
  • 0: Low priority
  • 1: Default priority
  • 2: Medium priority
  • 3: Max priority

Module: src/modules/sdlog2

0 > 3 2
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 https://en.wikipedia.org/wiki/List_of_UTC_time_offsets

Module: src/modules/logger

-1000 > 1000 0 min
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. This parameter is only for the new logger (SYS_LOGGER=1).

Values:
  • 0: when armed until disarm (default)
  • 1: from boot until disarm
  • 2: from boot until shutdown
  • 3: from boot until shutdown - IMU and Baro data only (used for thermal calibration)

Reboot required: true

Module: src/modules/logger

0 > 3 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.

Reboot required: true

Module: src/modules/logger

0 > 1000 0
SDLOG_UUID (INT32)

Log UUID

Comment: If set to 1, add an ID to the log, which uniquely identifies the vehicle

Module: src/modules/logger

1

Sensor Calibration

The module where these parameters are defined is: src/modules/sensors.

NameDescriptionMin > Max (Incr.)DefaultUnits
CAL_BOARD_ID (INT32)

ID of the board this parameter set was calibrated on

0
CAL_GYRO0_ID (INT32)

ID of the Gyro that the calibration is for

0
CAL_GYRO0_XOFF (FLOAT)

Gyro X-axis offset

-10.0 > 10.0 0.0
CAL_GYRO0_YOFF (FLOAT)

Gyro Y-axis offset

-10.0 > 10.0 0.0
CAL_GYRO0_ZOFF (FLOAT)

Gyro Z-axis offset

-5.0 > 5.0 0.0
CAL_GYRO0_XSCALE (FLOAT)

Gyro X-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO0_YSCALE (FLOAT)

Gyro Y-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO0_ZSCALE (FLOAT)

Gyro Z-axis scaling factor

-1.5 > 1.5 1.0
CAL_MAG0_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG0_ROT (INT32)

Rotation of magnetometer 0 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG0_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG0_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG0_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG0_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG0_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG0_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC0_ID (INT32)

ID of the Accelerometer that the calibration is for

0
CAL_ACC0_XOFF (FLOAT)

Accelerometer X-axis offset

0.0
CAL_ACC0_YOFF (FLOAT)

Accelerometer Y-axis offset

0.0
CAL_ACC0_ZOFF (FLOAT)

Accelerometer Z-axis offset

0.0
CAL_ACC0_XSCALE (FLOAT)

Accelerometer X-axis scaling factor

1.0
CAL_ACC0_YSCALE (FLOAT)

Accelerometer Y-axis scaling factor

1.0
CAL_ACC0_ZSCALE (FLOAT)

Accelerometer Z-axis scaling factor

1.0
CAL_GYRO1_ID (INT32)

ID of the Gyro that the calibration is for

0
CAL_GYRO1_XOFF (FLOAT)

Gyro X-axis offset

-10.0 > 10.0 0.0
CAL_GYRO1_YOFF (FLOAT)

Gyro Y-axis offset

-10.0 > 10.0 0.0
CAL_GYRO1_ZOFF (FLOAT)

Gyro Z-axis offset

-5.0 > 5.0 0.0
CAL_GYRO1_XSCALE (FLOAT)

Gyro X-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO1_YSCALE (FLOAT)

Gyro Y-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO1_ZSCALE (FLOAT)

Gyro Z-axis scaling factor

-1.5 > 1.5 1.0
CAL_MAG1_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG1_ROT (INT32)

Rotation of magnetometer 1 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG1_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG1_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG1_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG1_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG1_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG1_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC1_ID (INT32)

ID of the Accelerometer that the calibration is for

0
CAL_ACC1_XOFF (FLOAT)

Accelerometer X-axis offset

0.0
CAL_ACC1_YOFF (FLOAT)

Accelerometer Y-axis offset

0.0
CAL_ACC1_ZOFF (FLOAT)

Accelerometer Z-axis offset

0.0
CAL_ACC1_XSCALE (FLOAT)

Accelerometer X-axis scaling factor

1.0
CAL_ACC1_YSCALE (FLOAT)

Accelerometer Y-axis scaling factor

1.0
CAL_ACC1_ZSCALE (FLOAT)

Accelerometer Z-axis scaling factor

1.0
CAL_GYRO2_ID (INT32)

ID of the Gyro that the calibration is for

0
CAL_GYRO2_XOFF (FLOAT)

Gyro X-axis offset

-10.0 > 10.0 0.0
CAL_GYRO2_YOFF (FLOAT)

Gyro Y-axis offset

-10.0 > 10.0 0.0
CAL_GYRO2_ZOFF (FLOAT)

Gyro Z-axis offset

-5.0 > 5.0 0.0
CAL_GYRO2_XSCALE (FLOAT)

Gyro X-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO2_YSCALE (FLOAT)

Gyro Y-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO2_ZSCALE (FLOAT)

Gyro Z-axis scaling factor

-1.5 > 1.5 1.0
CAL_MAG2_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG2_ROT (INT32)

Rotation of magnetometer 2 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG2_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG2_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG2_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG2_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG2_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG2_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC2_ID (INT32)

ID of the Accelerometer that the calibration is for

0
CAL_ACC2_XOFF (FLOAT)

Accelerometer X-axis offset

0.0
CAL_ACC2_YOFF (FLOAT)

Accelerometer Y-axis offset

0.0
CAL_ACC2_ZOFF (FLOAT)

Accelerometer Z-axis offset

0.0
CAL_ACC2_XSCALE (FLOAT)

Accelerometer X-axis scaling factor

1.0
CAL_ACC2_YSCALE (FLOAT)

Accelerometer Y-axis scaling factor

1.0
CAL_ACC2_ZSCALE (FLOAT)

Accelerometer Z-axis scaling factor

1.0
CAL_MAG3_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG3_ROT (INT32)

Rotation of magnetometer 2 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG3_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG3_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG3_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG3_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG3_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG3_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC_PRIME (INT32)

Primary accel ID

0
CAL_GYRO_PRIME (INT32)

Primary gyro ID

0
CAL_MAG_PRIME (INT32)

Primary mag ID

0
CAL_MAG_SIDES (INT32)

Bitfield selecting mag sides for calibration

Comment: DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32

Values:
  • 34: Two side calibration
  • 38: Three side calibration
  • 63: Six side calibration
34 > 63 63
CAL_BARO_PRIME (INT32)

Primary baro ID

0
SENS_DPRES_OFF (FLOAT)

Differential pressure sensor offset

Comment: The offset (zero-reading) in Pascal

0.0
SENS_DPRES_ANSC (FLOAT)

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_BARO_QNH (FLOAT)

QNH for barometer

500 > 1500 1013.25 hPa
SENS_BOARD_ROT (INT32)

Board rotation

Comment: This parameter defines the rotation of the FMU board relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
0
SENS_FLOW_ROT (INT32)

PX4Flow board rotation

Comment: This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

6
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_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_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_EXT_MAG_ROT (INT32)

External magnetometer rotation

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
0
SENS_EXT_MAG (INT32)

Select primary magnetometer

Values:
  • 0: Auto-select Mag
  • 1: External is primary Mag
  • 2: Internal is primary Mag
0 > 2 0
ATT_VIBE_THRESH (FLOAT)

Threshold (of RMS) to warn about high vibration levels

0.01 > 10 0.2

Sensor Enable

The module where these parameters are defined is: src/modules/sensors.

NameDescriptionMin > Max (Incr.)DefaultUnits
SENS_EN_LL40LS (INT32)

Lidar-Lite (LL40LS)

Values:
  • 0: Disabled
  • 1: PWM
  • 2: I2C

Reboot required: true

0 > 2 0
SENS_EN_SF0X (INT32)

Lightware laser rangefinder (serial)

Values:
  • 0: Disabled
  • 1: SF02
  • 2: SF10/a
  • 3: SF10/b
  • 4: SF10/c
  • 5: SF11/c

Reboot required: true

0 > 4 0
SENS_EN_MB12XX (INT32)

Maxbotix Soanr (mb12xx)

Reboot required: true

0
SENS_EN_TRONE (INT32)

TeraRanger One (trone)

Reboot required: true

0
SENS_EN_SF1XX (INT32)

Lightware SF1xx laser rangefinder (i2c)

Values:
  • 0: Disabled
  • 1: SF10/a
  • 2: SF10/b
  • 3: SF10/c
  • 4: SF11/c

Reboot required: true

0 > 4 0
SENS_EN_THERMAL (INT32)

Thermal control of sensor temperature

Values:
  • -1: Thermal control unavailable
  • 0: Thermal control off
-1

Sensor Thermal Compensation

The module where these parameters are defined is: src/modules/sensors.

NameDescriptionMin > Max (Incr.)DefaultUnits
TC_A_ENABLE (INT32)

Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable

0 > 1 0
TC_A0_ID (INT32)

ID of Accelerometer that the calibration is for

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_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_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_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_SCL_0 (FLOAT)

Accelerometer scale factor - X axis

1.0
TC_A0_SCL_1 (FLOAT)

Accelerometer scale factor - Y axis

1.0
TC_A0_SCL_2 (FLOAT)

Accelerometer scale factor - Z axis

1.0
TC_A0_TREF (FLOAT)

Accelerometer calibration reference temperature

25.0
TC_A0_TMIN (FLOAT)

Accelerometer calibration minimum temperature

0.0
TC_A0_TMAX (FLOAT)

Accelerometer calibration maximum temperature

100.0
TC_A1_ID (INT32)

ID of Accelerometer that the calibration is for

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_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_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_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_SCL_0 (FLOAT)

Accelerometer scale factor - X axis

1.0
TC_A1_SCL_1 (FLOAT)

Accelerometer scale factor - Y axis

1.0
TC_A1_SCL_2 (FLOAT)

Accelerometer scale factor - Z axis

1.0
TC_A1_TREF (FLOAT)

Accelerometer calibration reference temperature

25.0
TC_A1_TMIN (FLOAT)

Accelerometer calibration minimum temperature

0.0
TC_A1_TMAX (FLOAT)

Accelerometer calibration maximum temperature

100.0
TC_A2_ID (INT32)

ID of Accelerometer that the calibration is for

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_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_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_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_SCL_0 (FLOAT)

Accelerometer scale factor - X axis

1.0
TC_A2_SCL_1 (FLOAT)

Accelerometer scale factor - Y axis

1.0
TC_A2_SCL_2 (FLOAT)

Accelerometer scale factor - Z axis

1.0
TC_A2_TREF (FLOAT)

Accelerometer calibration reference temperature

25.0
TC_A2_TMIN (FLOAT)

Accelerometer calibration minimum temperature

0.0
TC_A2_TMAX (FLOAT)

Accelerometer calibration maximum temperature

100.0
TC_B_ENABLE (INT32)

Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable

0 > 1 0
TC_B0_ID (INT32)

ID of Barometer that the calibration is for

0
TC_B0_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient

0.0
TC_B0_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient

0.0
TC_B0_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient

0.0
TC_B0_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient

0.0
TC_B0_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients

0.0
TC_B0_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient

0.0
TC_B0_SCL (FLOAT)

Barometer scale factor - X axis

1.0
TC_B0_TREF (FLOAT)

Barometer calibration reference temperature

40.0
TC_B0_TMIN (FLOAT)

Barometer calibration minimum temperature

5.0
TC_B0_TMAX (FLOAT)

Barometer calibration maximum temperature

75.0
TC_B1_ID (INT32)

ID of Barometer that the calibration is for

0
TC_B1_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient

0.0
TC_B1_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient

0.0
TC_B1_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient

0.0
TC_B1_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient

0.0
TC_B1_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients

0.0
TC_B1_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient

0.0
TC_B1_SCL (FLOAT)

Barometer scale factor - X axis

1.0
TC_B1_TREF (FLOAT)

Barometer calibration reference temperature

40.0
TC_B1_TMIN (FLOAT)

Barometer calibration minimum temperature

5.0
TC_B1_TMAX (FLOAT)

Barometer calibration maximum temperature

75.0
TC_B2_ID (INT32)

ID of Barometer that the calibration is for

0
TC_B2_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient

0.0
TC_B2_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient

0.0
TC_B2_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient

0.0
TC_B2_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient

0.0
TC_B2_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients

0.0
TC_B2_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient

0.0
TC_B2_SCL (FLOAT)

Barometer scale factor - X axis

1.0
TC_B2_TREF (FLOAT)

Barometer calibration reference temperature

40.0
TC_B2_TMIN (FLOAT)

Barometer calibration minimum temperature

5.0
TC_B2_TMAX (FLOAT)

Barometer calibration maximum temperature

75.0
TC_G_ENABLE (INT32)

Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable

0 > 1 0
TC_G0_ID (INT32)

ID of Gyro that the calibration is for

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_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_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_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_SCL_0 (FLOAT)

Gyro scale factor - X axis

1.0
TC_G0_SCL_1 (FLOAT)

Gyro scale factor - Y axis

1.0
TC_G0_SCL_2 (FLOAT)

Gyro scale factor - Z axis

1.0
TC_G0_TREF (FLOAT)

Gyro calibration reference temperature

25.0
TC_G0_TMIN (FLOAT)

Gyro calibration minimum temperature

0.0
TC_G0_TMAX (FLOAT)

Gyro calibration maximum temperature

100.0
TC_G1_ID (INT32)

ID of Gyro that the calibration is for

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_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_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_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_SCL_0 (FLOAT)

Gyro scale factor - X axis

1.0
TC_G1_SCL_1 (FLOAT)

Gyro scale factor - Y axis

1.0
TC_G1_SCL_2 (FLOAT)

Gyro scale factor - Z axis

1.0
TC_G1_TREF (FLOAT)

Gyro calibration reference temperature

25.0
TC_G1_TMIN (FLOAT)

Gyro calibration minimum temperature

0.0
TC_G1_TMAX (FLOAT)

Gyro calibration maximum temperature

100.0
TC_G2_ID (INT32)

ID of Gyro that the calibration is for

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_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_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_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_SCL_0 (FLOAT)

Gyro scale factor - X axis

1.0
TC_G2_SCL_1 (FLOAT)

Gyro scale factor - Y axis

1.0
TC_G2_SCL_2 (FLOAT)

Gyro scale factor - Z axis

1.0
TC_G2_TREF (FLOAT)

Gyro calibration reference temperature

25.0
TC_G2_TMIN (FLOAT)

Gyro calibration minimum temperature

0.0
TC_G2_TMAX (FLOAT)

Gyro calibration maximum temperature

100.0

Snapdragon UART ESC

The module where these parameters are defined is: src/platforms/qurt/fc_addon/uart_esc.

NameDescriptionMin > Max (Incr.)DefaultUnits
UART_ESC_MODEL (INT32)

ESC model

Comment: See esc_model_t enum definition in uart_esc_dev.h for all supported ESC model enum values.

Values:
  • 0: ESC_200QX
  • 1: ESC_350QX
  • 2: ESC_210QC
2
UART_ESC_BAUD (INT32)

ESC UART baud rate

Comment: Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products.

250000
UART_ESC_MOTOR1 (INT32)

Motor 1 Mapping

4
UART_ESC_MOTOR2 (INT32)

Motor 2 Mapping

2
UART_ESC_MOTOR3 (INT32)

Motor 3 Mapping

1
UART_ESC_MOTOR4 (INT32)

Motor 4 Mapping

3

Subscriber Example

The module where these parameters are defined is: src/examples/subscriber.

NameDescriptionMin > Max (Incr.)DefaultUnits
SUB_INTERV (INT32)

Interval of one subscriber in the example in ms

100 ms
SUB_TESTF (FLOAT)

Float Demonstration Parameter in the Example

3.14

The module where these parameters are defined is: src/modules/syslink.

NameDescriptionMin > Max (Incr.)DefaultUnits
SLNK_RADIO_CHAN (INT32)

Operating channel of the NRF51

0 > 125 80
SLNK_RADIO_RATE (INT32)

Operating datarate of the NRF51

0 > 2 2
SLNK_RADIO_ADDR1 (INT32)

Operating address of the NRF51 (most significant byte)

231
SLNK_RADIO_ADDR2 (INT32)

Operating address of the NRF51 (least significant 4 bytes)

3890735079

System

NameDescriptionMin > Max (Incr.)DefaultUnits
SYS_AUTOSTART (INT32)

Auto-start script index

Comment: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.

Reboot required: true

Module: src/modules/systemlib

0 > 99999 0
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:
  • 0: Keep parameters
  • 1: Reset parameters

Module: src/modules/systemlib

0 > 1 0
SYS_USE_IO (INT32)

Set usage of IO board

Comment: Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.

Module: src/modules/systemlib

0 > 1 1
SYS_RESTART_TYPE (INT32)

Set restart type

Comment: Set by px4io to indicate type of restart

Values:
  • 0: Data survives resets
  • 1: Data survives in-flight resets only
  • 2: Data does not survive reset

Module: src/modules/systemlib

0 > 2 2
SYS_MC_EST_GROUP (INT32)

Set multicopter estimator group

Comment: Set the group of estimators used for multicopters and VTOLs

Values:
  • 1: local_position_estimator, attitude_estimator_q
  • 2: ekf2

Reboot required: true

Module: src/modules/systemlib

1 > 2 2
SYS_COMPANION (INT32)

TELEM2 as companion computer link

Comment: CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as companion computer interface.

Values:
  • 0: Disabled
  • 10: FrSky Telemetry
  • 20: Crazyflie (Syslink)
  • 57600: Companion Link (57600 baud, 8N1)
  • 157600: OSD (57600 baud, 8N1)
  • 257600: Command Receiver (57600 baud, 8N1)
  • 319200: Normal Telemetry (19200 baud, 8N1)
  • 338400: Normal Telemetry (38400 baud, 8N1)
  • 357600: Normal Telemetry (57600 baud, 8N1)
  • 419200: Iridium Telemetry (19200 baud, 8N1)
  • 921600: Companion Link (921600 baud, 8N1)
  • 1921600: ESP8266 (921600 baud, 8N1)
  • 3115200: Normal Telemetry (115200 baud, 8N1)

Reboot required: true

Module: src/modules/systemlib

0 > 1921600 157600
SYS_PARAM_VER (INT32)

Parameter version

Comment: This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration.

Module: src/modules/systemlib

0 > ? 1
SYS_LOGGER (INT32)

SD logger

Values:
  • 0: sdlog2 (legacy)
  • 1: logger (default)

Reboot required: true

Module: src/modules/systemlib

0 > 1 1
SYS_STCK_EN (INT32)

Enable stack checking

Module: src/modules/systemlib

1
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 the temperature calibration starts. default (0, no calibration)

Module: src/modules/systemlib

0 > 1 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 the temperature calibration starts. default (0, no calibration)

Module: src/modules/systemlib

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 the temperature calibration starts. default (0, no calibration)

Module: src/modules/systemlib

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 temeprature 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.

Module: src/modules/systemlib

10 > ? 24 deg C
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.

Module: src/modules/systemlib

5 deg C
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.

Module: src/modules/systemlib

10 deg C
LED_RGB_MAXBRT (INT32)

RGB Led brightness limit

Comment: Set to 0 to disable, 1 for minimum brightness up to 15 (max)

Module: src/drivers/rgbled

0 > 15 15

Testing

NameDescriptionMin > Max (Incr.)DefaultUnits
TEST_MIN (FLOAT)

Module: src/modules/controllib_test

-1.0
TEST_MAX (FLOAT)

Module: src/modules/controllib_test

1.0
TEST_TRIM (FLOAT)

Module: src/modules/controllib_test

0.5
TEST_HP (FLOAT)

Module: src/modules/controllib_test

10.0
TEST_LP (FLOAT)

Module: src/modules/controllib_test

10.0
TEST_P (FLOAT)

Module: src/modules/controllib_test

0.2
TEST_I (FLOAT)

Module: src/modules/controllib_test

0.1
TEST_I_MAX (FLOAT)

Module: src/modules/controllib_test

1.0
TEST_D (FLOAT)

Module: src/modules/controllib_test

0.01
TEST_D_LP (FLOAT)

Module: src/modules/controllib_test

10.0
TEST_MEAN (FLOAT)

Module: src/modules/controllib_test

1.0
TEST_DEV (FLOAT)

Module: src/modules/controllib_test

2.0
TEST_PARAMS (INT32)

Module: src/systemcmds/tests

12345678

UAVCAN

NameDescriptionMin > Max (Incr.)DefaultUnits
ESC_NODE_ID (INT32)

UAVCAN Node ID

Comment: Read the specs at http://uavcan.org to learn more about Node ID.

Module: src/modules/uavcanesc

1 > 125 120
ESC_BITRATE (INT32)

UAVCAN CAN bus bitrate

Module: src/modules/uavcanesc

20000 > 1000000 1000000
CANNODE_NODE_ID (INT32)

UAVCAN Node ID

Comment: Read the specs at http://uavcan.org to learn more about Node ID.

Module: src/modules/uavcannode

1 > 125 120
CANNODE_BITRATE (INT32)

UAVCAN CAN bus bitrate

Module: src/modules/uavcannode

20000 > 1000000 1000000
UAVCAN_ENABLE (INT32)

UAVCAN mode

Comment: 0 - UAVCAN disabled. 1 - Basic support for UAVCAN actuators and sensors. 2 - Full support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.

Values:
  • 0: Disabled
  • 2: Sensors Enabled
  • 3: Sensors and Motors

Module: src/modules/uavcan

0 > 3 0
UAVCAN_NODE_ID (INT32)

UAVCAN Node ID

Comment: Read the specs at http://uavcan.org to learn more about Node ID.

Module: src/modules/uavcan

1 > 125 1
UAVCAN_BITRATE (INT32)

UAVCAN CAN bus bitrate

Module: src/modules/uavcan

20000 > 1000000 1000000 bit/s
UAVCAN_ESC_IDLT (INT32)

UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints

Reboot required: true

Module: src/modules/uavcan

1

VTOL Attitude Control

The module where these parameters are defined is: src/modules/vtol_att_control.

NameDescriptionMin > Max (Incr.)DefaultUnits
VT_TRANS_THR (FLOAT)

Target throttle value for pusher/puller motor during the transition to fw mode

0.0 > 1.0 (0.01) 0.6
VT_DWN_PITCH_MAX (FLOAT)

Maximum allowed down-pitch the controller is able to demand. This prevents large, negative lift values being created when facing strong winds. The vehicle will use the pusher motor to accelerate forward if necessary

0.0 > 45.0 5.0
VT_FWD_THRUST_SC (FLOAT)

Fixed wing thrust scale for hover forward flight

Comment: Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy.

0.0 > 2.0 0.0
VT_MOT_COUNT (INT32)

VTOL number of engines

0 > 8 (1) 0
VT_IDLE_PWM_MC (INT32)

Idle speed of VTOL when in multicopter mode

900 > 2000 (1) 900 us
VT_MC_ARSPD_MIN (FLOAT)

Minimum airspeed in multicopter mode

Comment: This is the minimum speed of the air flowing over the control surfaces.

0.0 > 30.0 (0.5) 10.0 m/s
VT_MC_ARSPD_MAX (FLOAT)

Maximum airspeed in multicopter mode

Comment: This is the maximum speed of the air flowing over the control surfaces.

0.0 > 30.0 (0.5) 30.0 m/s
VT_MC_ARSPD_TRIM (FLOAT)

Trim airspeed when in multicopter mode

Comment: This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.

0.0 > 30.0 (0.5) 10.0 m/s
VT_FW_PERM_STAB (INT32)

Permanent stabilization in fw mode

Comment: If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake.

0
VT_FW_PITCH_TRIM (FLOAT)

Fixed wing pitch trim

Comment: This parameter allows to adjust the neutral elevon position in fixed wing mode.

-1.0 > 1.0 (0.01) 0.0
VT_POWER_MAX (FLOAT)

Motor max power

Comment: Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map.

1 > 10000 (1) 120.0 W
VT_PROP_EFF (FLOAT)

Propeller efficiency parameter

Comment: Influences propeller efficiency at different power settings. Should be tuned beforehand.

0.0 > 1.0 (0.01) 0.0
VT_ARSP_LP_GAIN (FLOAT)

Total airspeed estimate low-pass filter gain

Comment: Gain for tuning the low-pass filter for the total airspeed estimate

0.0 > 1.0 (0.01) 0.3
VT_TYPE (INT32)

VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)

Values:
  • 0: Tailsitter
  • 1: Tiltrotor
  • 2: Standard
0 > 2 0
VT_ELEV_MC_LOCK (INT32)

Lock elevons in multicopter mode

Comment: If set to 1 the elevons are locked in multicopter mode

0
VT_F_TRANS_DUR (FLOAT)

Duration of a front transition

Comment: Time in seconds used for a transition

0.00 > 20.00 (1) 5.0 s
VT_B_TRANS_DUR (FLOAT)

Duration of a back transition

Comment: Time in seconds used for a back transition

0.00 > 20.00 (1) 4.0 s
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_OPT_RECOV_EN (INT32)

Optimal recovery strategy for pitch-weak tailsitters

0
VT_WV_YAWR_SCL (FLOAT)

Weather-vane yaw rate scale

Comment: The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind.

0.0 > 1.0 (0.01) 0.15
VT_TRANS_TIMEOUT (FLOAT)

Front transition timeout

Comment: Time in seconds after which transition will be cancelled. Disabled if set to 0.

0.00 > 30.00 (1) 15.0 s
VT_TRANS_MIN_TM (FLOAT)

Front transition minimum time

Comment: Minimum time in seconds for front transition.

0.0 > 10.0 2.0 s
VT_FW_MIN_ALT (FLOAT)

QuadChute Altitude

Comment: Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL

0.0 > 200.0 0.0
VT_FW_QC_P (INT32)

QuadChute Max Pith

Comment: Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL

0 > 180 0
VT_FW_QC_R (INT32)

QuadChute Max Roll

Comment: Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL

0 > 180 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 6.0 seconds
VT_TILT_MC (FLOAT)

Position of tilt servo in mc mode

0.0 > 1.0 (0.01) 0.0
VT_TILT_TRANS (FLOAT)

Position of tilt servo in transition mode

0.0 > 1.0 (0.01) 0.3
VT_TILT_FW (FLOAT)

Position of tilt servo in fw mode

0.0 > 1.0 (0.01) 1.0
VT_TRANS_P2_DUR (FLOAT)

Duration of front transition phase 2

Comment: Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode.

0.1 > 5.0 (0.01) 0.5 s
VT_FW_MOT_OFFID (INT32)

The channel number of motors that must be turned off in fixed wing mode

0 > 12345678 (1) 0
VT_FW_DIFTHR_EN (INT32)

Differential thrust in forwards flight

Comment: Set to 1 to enable differential thrust in fixed-wing flight.

0 > 1 0
VT_FW_DIFTHR_SC (FLOAT)

Differential thrust scaling factor

Comment: This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.

0.0 > 1.0 (0.1) 0.1

mTECS

The module where these parameters are defined is: src/modules/fw_pos_control_l1/mtecs.

NameDescriptionMin > Max (Incr.)DefaultUnits
MT_ENABLED (INT32)

mTECS enabled

0
MT_THR_FF (FLOAT)

Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint

0.0 > 10.0 0.7
MT_THR_P (FLOAT)

Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint

0.0 > 10.0 0.1
MT_THR_I (FLOAT)

Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint

0.0 > 10.0 0.25
MT_THR_OFF (FLOAT)

Total Energy Rate Control Offset (Cruise throttle sp)

0.0 > 10.0 0.7
MT_PIT_FF (FLOAT)

Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint

0.0 > 10.0 0.4
MT_PIT_P (FLOAT)

Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint

0.0 > 10.0 0.03
MT_PIT_I (FLOAT)

Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint

0.0 > 10.0 0.03
MT_PIT_OFF (FLOAT)

Total Energy Distribution Offset (Cruise pitch sp)

0.0 > 10.0 0.0
MT_THR_MIN (FLOAT)

Minimal Throttle Setpoint

0.0 > 1.0 0.0
MT_THR_MAX (FLOAT)

Maximal Throttle Setpoint

0.0 > 1.0 1.0
MT_PIT_MIN (FLOAT)

Minimal Pitch Setpoint in Degrees

-90.0 > 90.0 -45.0 deg
MT_PIT_MAX (FLOAT)

Maximal Pitch Setpoint in Degrees

-90.0 > 90.0 20.0 deg
MT_ALT_LP (FLOAT)

Lowpass (cutoff freq.) for altitude

1.0 Hz
MT_FPA_LP (FLOAT)

Lowpass (cutoff freq.) for the flight path angle

1.0 Hz
MT_FPA_P (FLOAT)

P gain for the altitude control Maps the altitude error to the flight path angle setpoint

0.0 > 10.0 0.3
MT_FPA_D (FLOAT)

D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint

0.0 > 10.0 0.0
MT_FPA_D_LP (FLOAT)

Lowpass for FPA error derivative calculation (see MT_FPA_D)

1.0
MT_FPA_MIN (FLOAT)

Minimal flight path angle setpoint

-90.0 > 90.0 -20.0 deg
MT_FPA_MAX (FLOAT)

Maximal flight path angle setpoint

-90.0 > 90.0 30.0 deg
MT_A_LP (FLOAT)

Lowpass (cutoff freq.) for airspeed

0.5
MT_AD_LP (FLOAT)

Airspeed derivative calculation lowpass

0.5
MT_ACC_P (FLOAT)

P gain for the airspeed control Maps the airspeed error to the acceleration setpoint

0.0 > 10.0 0.3
MT_ACC_D (FLOAT)

D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint

0.0 > 10.0 0.0
MT_ACC_D_LP (FLOAT)

Lowpass for ACC error derivative calculation (see MT_ACC_D)

0.5
MT_ACC_MIN (FLOAT)

Minimal acceleration (air)

-40.0 m/s/s
MT_ACC_MAX (FLOAT)

Maximal acceleration (air)

40.0 m/s/s
MT_TKF_THR_MIN (FLOAT)

Minimal throttle during takeoff

0.0 > 1.0 1.0
MT_TKF_THR_MAX (FLOAT)

Maximal throttle during takeoff

0.0 > 1.0 1.0
MT_TKF_PIT_MIN (FLOAT)

Minimal pitch during takeoff

-90.0 > 90.0 0.0 deg
MT_TKF_PIT_MAX (FLOAT)

Maximal pitch during takeoff

-90.0 > 90.0 45.0 deg
MT_USP_THR_MIN (FLOAT)

Minimal throttle in underspeed mode

0.0 > 1.0 1.0
MT_USP_THR_MAX (FLOAT)

Maximal throttle in underspeed mode

0.0 > 1.0 1.0
MT_USP_PIT_MIN (FLOAT)

Minimal pitch in underspeed mode

-90.0 > 90.0 -45.0 deg
MT_USP_PIT_MAX (FLOAT)

Maximal pitch in underspeed mode

-90.0 > 90.0 0.0 deg
MT_LND_THR_MIN (FLOAT)

Minimal throttle in landing mode (only last phase of landing)

0.0 > 1.0 0.0
MT_LND_THR_MAX (FLOAT)

Maximal throttle in landing mode (only last phase of landing)

0.0 > 1.0 0.0
MT_LND_PIT_MIN (FLOAT)

Minimal pitch in landing mode

-90.0 > 90.0 -5.0 deg
MT_LND_PIT_MAX (FLOAT)

Maximal pitch in landing mode

-90.0 > 90.0 15.0 deg
MT_THR_I_MAX (FLOAT)

Integrator Limit for Total Energy Rate Control

0.0 > 10.0 10.0
MT_PIT_I_MAX (FLOAT)

Integrator Limit for Energy Distribution Rate Control

0.0 > 10.0 10.0

Miscellaneous

NameDescriptionMin > Max (Incr.)DefaultUnits
EXFW_HDNG_P (FLOAT)

Module: src/examples/fixedwing_control

0.1
EXFW_ROLL_P (FLOAT)

Module: src/examples/fixedwing_control

0.2
EXFW_PITCH_P (FLOAT)

Module: src/examples/fixedwing_control

0.2
RV_YAW_P (FLOAT)

Module: src/examples/rover_steering_control

0.1
SEG_TH2V_P (FLOAT)

Module: src/examples/segway

10.0
SEG_TH2V_I (FLOAT)

Module: src/examples/segway

0.0
SEG_TH2V_I_MAX (FLOAT)

Module: src/examples/segway

0.0
SEG_Q2V (FLOAT)

Module: src/examples/segway

1.0
RC_MAP_FAILSAFE (INT32)

Failsafe channel mapping

Comment: The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific rc channel to use

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18

Module: src/modules/sensors

0 > 18 0
COM_RC_STICK_OV (FLOAT)

Module: src/modules/commander

12.0
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:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Rattitude
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me

Module: src/modules/commander

-1
COM_FLTMODE2 (INT32)

Second flightmode slot (1160-1320)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Rattitude
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me

Module: src/modules/commander

-1
COM_FLTMODE3 (INT32)

Third flightmode slot (1320-1480)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Rattitude
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me

Module: src/modules/commander

-1
COM_FLTMODE4 (INT32)

Fourth flightmode slot (1480-1640)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Rattitude
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me

Module: src/modules/commander

-1
COM_FLTMODE5 (INT32)

Fifth flightmode slot (1640-1800)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Rattitude
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me

Module: src/modules/commander

-1
COM_FLTMODE6 (INT32)

Sixth flightmode slot (1800-2000)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Rattitude
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me

Module: src/modules/commander

-1
© PX4 Dev Team. License: CC BY 4.0            Updated: 2017-09-20 00:50:28

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