• 参数参照表
    • Airspeed Validator
    • Attitude Q estimator
    • Battery Calibration
    • Camera Capture
    • Camera Control
    • Camera trigger
    • Circuit Breaker
    • Commander
    • Data Link Loss
    • EKF2
    • Events
    • FW Attitude Control
    • FW L1 Control
    • FW Launch detection
    • FW TECS
    • Failure Detector
    • Follow target
    • GPS
    • GPS Failure Navigation
    • Geofence
    • Iridium SBD
    • Land Detector
    • Landing target Estimator
    • Local Position Estimator
    • MAVLink
    • MKBLCTRL Testmode
    • MPU9x50 Configuration
    • Mission
    • Mount
    • Multicopter Attitude Control
    • Multicopter Position Control
    • OSD
    • PWM Outputs
    • Payload drop
    • Precision Land
    • RC Receiver Configuration
    • RTPS
    • Radio Calibration
    • Radio Switches
    • Return Mode
    • Roboclaw
    • Roboclaw driver
    • Rover Position Control
    • Runway Takeoff
    • SD Logging
    • SITL
    • Sensor Calibration
    • Sensors
    • Serial
    • Simulation In Hardware
    • Snapdragon UART ESC
    • System
    • Telemetry
    • Testing
    • Thermal Compensation
    • UAVCAN
    • VTOL Attitude Control
    • Miscellaneous

    参数参照表

    注意:**这个清单是从源代码中自动生成的** (使用make parameters_metadata) 并且包含了最新的参数文档.

    Airspeed Validator

    名称 参数描述 最小最大值 (增量) 默认值 单位
    ARSP_ARSP_SCALE (FLOAT)

    Airspeed scale (scale from IAS to CAS/EAS)

    Comment: Scale can either be entered manually, or estimated in-flight by setting ARSP_SCALE_EST to 1.

    0.5 > 1.5 1.0
    ARSP_BETA_GATE (INT32)

    Airspeed Selector: Gate size for true sideslip fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1 > 5 1 SD
    ARSP_BETA_NOISE (FLOAT)

    Airspeed Selector: Wind estimator sideslip measurement noise

    Comment: Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.

    0 > 1 0.3 rad
    ARSP_SCALE_EST (INT32)

    Automatic airspeed scale estimation on

    Comment: Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended level (keeping altitude) while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved in the ARSP_ARSP_SCALE parameter.

    0
    ARSP_SC_P_NOISE (FLOAT)

    Airspeed Selector: Wind estimator true airspeed scale process noise

    Comment: Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.

    0 > 0.1 0.0001 1/s
    ARSP_TAS_GATE (INT32)

    Airspeed Selector: Gate size for true airspeed fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1 > 5 3 SD
    ARSP_TAS_NOISE (FLOAT)

    Airspeed Selector: Wind estimator true airspeed measurement noise

    Comment: True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.

    0 > 4 1.4 m/s
    ARSP_W_P_NOISE (FLOAT)

    Airspeed Selector: Wind estimator wind process noise

    Comment: Wind process noise of the internal wind estimator(s) of the airspeed selector.

    0 > 1 0.1 m/s/s

    Attitude Q estimator

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    ATT_ACC_COMP (INT32)

    Acceleration compensation based on GPS velocity

    1
    ATT_BIAS_MAX (FLOAT)

    Gyro bias limit

    0 > 2 0.05 rad/s
    ATT_EXT_HDG_M (INT32)

    External heading usage mode (from Motion capture/Vision) 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_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_W_ACC (FLOAT)

    Complimentary filter accelerometer weight

    0 > 1 0.2
    ATT_W_EXT_HDG (FLOAT)

    Complimentary filter external heading weight

    0 > 1 0.1
    ATT_W_GYRO_BIAS (FLOAT)

    Complimentary filter gyroscope bias weight

    0 > 1 0.1
    ATT_W_MAG (FLOAT)

    Complimentary filter magnetometer weight

    Comment: Set to 0 to avoid using the magnetometer.

    0 > 1 0.1

    Battery Calibration

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    BAT_ADC_CHANNEL (INT32)

    Battery ADC Channel

    Comment: This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.

    -1
    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.

    -1.0
    BAT_CAPACITY (FLOAT)

    Battery capacity

    Comment: Defines the capacity of the attached battery.

    Reboot required: true

    -1.0 > 100000 (50) -1.0 mAh
    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.

    -1.0
    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.

    -1.0
    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

    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

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

    Low threshold

    Comment: Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.

    Reboot required: true

    0.12 > 0.4 (0.01) 0.15 norm
    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

    0 S
    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

    -1.0 > 0.2 -1.0 Ohms
    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
    0 > 1 0
    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

    (0.01) 4.05 V
    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.

    -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

    (0.01) 3.5 V
    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

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

    Offset in volt as seen by the ADC input of the current sensor

    Comment: This offset will be subtracted before calculating the battery current based on the voltage.

    0.0

    Camera Capture

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    CAM_CAP_DELAY (FLOAT)

    Camera strobe delay

    Comment: This parameter sets the delay between image integration start and strobe firing

    0.0 > 100.0 0.0 ms

    Camera Control

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    CAM_CAP_EDGE (INT32)

    Camera capture edge

    Values:
    • 0: Falling edge
    • 1: Rising edge

    Reboot required: true

    0
    CAM_CAP_FBACK (INT32)

    Camera capture feedback

    Comment: Enables camera capture feedback

    Reboot required: true

    0
    CAM_CAP_MODE (INT32)

    Camera capture timestamping mode

    Comment: Change time measurement

    Values:
    • 0: Get absolute timestamp
    • 1: Get timestamp of mid exposure (active high)
    • 2: Get timestamp of mid exposure (active low)

    要求重启:

    0

    Camera trigger

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_DISTANCE (FLOAT)

    Camera trigger distance

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

    0 > ? (1) 25.0 m
    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_MODE (INT32)

    Camera trigger mode

    Values:
    • 0: Disable
    • 1: Time based, on command
    • 2: Time based, always on
    • 3: Distance based, always on
    • 4: Distance based, on command (Survey mode)

    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 px4_fmu-v2 and the rail pins on px4_fmu-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. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is < .2 uS.

    Reboot required: true

    1 > 123456 56
    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_PWM_NEUTRAL (INT32)

    PWM neutral output on trigger pin

    Reboot required: true

    1000 > 2000 1500 us
    TRIG_PWM_SHOOT (INT32)

    PWM output to trigger shot

    Reboot required: true

    1000 > 2000 1900 us

    Circuit Breaker

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_BUZZER (INT32)

    Circuit breaker for disabling buzzer

    Comment: Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.

    Reboot required: true

    0 > 782097 0
    CBRK_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_FLIGHTTERM (INT32)

    Circuit breaker for flight termination

    Comment: Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss and geofence safety logic.

    Reboot required: true

    0 > 121212 121212
    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_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_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_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_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
    CBRK_VELPOSERR (INT32)

    Circuit breaker for position error check

    Comment: Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

    Reboot required: true

    0 > 201607 0

    Commander

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    COM_ARM_AUTH (INT32)

    Arm authorization parameters, this uint32_t will be split between starting from the LSB: - 8bits to authorizer system id - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods. - 7bits to authentication method - one arm = 0 - two step arm = 1 the MSB bit is not used to avoid problems in the conversion between int and uint

    Comment: Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm

    256010
    COM_ARM_CHK_ESCS (INT32)

    Require all the ESCs to be detected to arm

    Comment: This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.

    1
    COM_ARM_EKF_AB (FLOAT)

    Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming. Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful

    0.001 > 0.01 (0.0001) 1.73e-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_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_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_YAW (FLOAT)

    Maximum EKF yaw innovation test ratio that will allow arming

    0.1 > 1.0 (0.05) 0.5 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 > 0.3 (0.01) 0.25 rad/s
    COM_ARM_MAG_ANG (INT32)

    Maximum magnetic field inconsistency between units that will allow arming Set -1 to disable the check

    3 > 180 30 deg
    COM_ARM_MIS_REQ (INT32)

    Require valid mission to arm

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

    0
    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_ARM_WO_GPS (INT32)

    Allow arming without GPS

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

    1
    COM_ASPD_FS_ACT (INT32)

    Airspeed fault detection (Experimental)

    Comment: Failsafe action when bad airspeed measurements are detected. Ensure the COM_ASPD_STALL parameter is set correctly before use.

    Values:
    • 0: disabled
    • 1: log a message
    • 2: log a message, warn the user
    • 3: log a message, warn the user, switch to non-airspeed TECS mode
    • 4: log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_ASPD_FS_DLY seconds
    0
    COM_ASPD_FS_DLY (INT32)

    Airspeed fault detection delay before RTL (Experimental)

    Comment: RTL delay after bad airspeed measurements are detected if COM_ASPD_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_T1 and COM_TAS_FS_T2 parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions.

    0 > 300 0 s
    COM_ASPD_STALL (FLOAT)

    Airspeed fault detection stall airspeed. (Experimental)

    Comment: This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.

    10.0 m/s
    COM_DISARM_LAND (FLOAT)

    Time-out for auto disarm after landing

    Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.

    -1 > 20 2.0 s
    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_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_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_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_FLIGHT_UUID (INT32)

    Next flight UUID

    Comment: This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.

    0 > ? 0
    COM_FLTMODE1 (INT32)

    First flightmode slot (1000-1160)

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

    Values:
    • -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
    -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
    -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
    -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
    -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
    -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
    -1
    COM_FLT_PROFILE (INT32)

    User Flight Profile

    Comment: Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).

    Values:
    • 0: Default
    • 100: Pro User
    • 200: Flight Tester
    • 300: Developer
    0
    COM_HLDL_LOSS_T (INT32)

    High Latency Datalink loss time threshold

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

    60 > 3600 120 s
    COM_HLDL_REG_T (INT32)

    High Latency Datalink regain time threshold

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

    0 > 60 0 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_LOW_BAT_ACT (INT32)

    Battery failsafe mode

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

    Values:
    • 0: Warning
    • 1: Return mode
    • 2: Land mode
    • 3: Return mode at critically low level, Land mode at current position if reaching dangerously low levels
    (1) 0
    COM_OA_BOOT_T (INT32)

    Set avoidance system bootup timeout

    Comment: The avoidance system running on the companion computer is expected to boot within this time and start providing trajectory points. If no avoidance system is detected a MAVLink warning message is sent.

    0 > 200 100 s
    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 mode
    • 1: Hold mode
    • 2: Return mode
    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 mode
    • 1: Altitude mode
    • 2: Manual
    • 3: Return mode
    • 4: Land mode
    • 5: Hold mode
    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 s
    COM_POSCTL_NAVL (INT32)

    Position control navigation loss response

    Comment: This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.

    Values:
    • 0: Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
    • 1: Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
    0
    COM_POS_FS_DELAY (INT32)

    Loss of position failsafe activation delay

    Comment: This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.

    Reboot required: true

    1 > 100 1 sec
    COM_POS_FS_EPH (FLOAT)

    Horizontal position error threshold

    Comment: This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

    5 m
    COM_POS_FS_EPV (FLOAT)

    Vertical position error threshold

    Comment: This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

    10 m
    COM_POS_FS_GAIN (INT32)

    Loss of position probation gain factor

    Comment: This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.

    Reboot required: true

    10
    COM_POS_FS_PROB (INT32)

    Loss of position probation delay at takeoff

    Comment: The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.

    Reboot required: true

    1 > 100 30 sec
    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_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_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_RC_OVERRIDE (INT32)

    Enable RC stick override of auto modes

    Comment: When an auto mode is active (except a critical battery reaction) moving the RC sticks gives control back to the pilot in manual position mode immediately. Only has an effect on multicopters and VTOLS in multicopter mode.

    1
    COM_RC_STICK_OV (FLOAT)

    RC stick override threshold

    Comment: If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.

    5 > 40 (0.05) 12.0 %
    COM_TAS_FS_INNOV (FLOAT)

    Airspeed failsafe consistency threshold (Experimental)

    Comment: This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_ASPD_FS_ACT parameter.

    0.5 > 3.0 1.0
    COM_TAS_FS_INTEG (FLOAT)

    Airspeed failsafe consistency delay (Experimental)

    Comment: This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.

    ? > 30.0 -1.0 s
    COM_TAS_FS_T1 (INT32)

    Airspeed failsafe stop delay (Experimental)

    Comment: Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.

    1 > 10 3 s
    COM_TAS_FS_T2 (INT32)

    Airspeed failsafe start delay (Experimental)

    Comment: Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.

    10 > 1000 100 s
    COM_VEL_FS_EVH (FLOAT)

    Horizontal velocity error threshold

    Comment: This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

    1 m/s
    参数名 参数描述 最小最大值 (增量) 默认值 单位
    NAV_AH_ALT (FLOAT)

    Airfield home alt

    Comment: Altitude of airfield home waypoint

    -50 > ? (0.5) 600.0 m
    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_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_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
    NAV_DLL_CH_ALT (FLOAT)

    Comms hold alt

    Comment: Altitude of comms hold waypoint

    -50 > 30000 (0.5) 600.0 m
    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_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_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

    EKF2

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    EKF2_ABIAS_INIT (FLOAT)

    1-sigma IMU accelerometer switch-on bias

    Reboot required: true

    0.0 > 0.5 0.2 m/s/s
    EKF2_ABL_ACCLIM (FLOAT)

    Maximum IMU accel magnitude that allows IMU bias learning. If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates

    20.0 > 200.0 25.0 m/s/s
    EKF2_ABL_GYRLIM (FLOAT)

    Maximum IMU gyro angular rate magnitude that allows IMU bias learning. If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates

    2.0 > 20.0 3.0 rad/s
    EKF2_ABL_LIM (FLOAT)

    Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value

    0.0 > 0.8 0.4 m/s/s
    EKF2_ABL_TAU (FLOAT)

    Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay

    0.1 > 1.0 0.5 s
    EKF2_ACC_B_NOISE (FLOAT)

    Process noise for IMU accelerometer bias prediction

    0.0 > 0.01 3.0e-3 m/s3
    EKF2_ACC_NOISE (FLOAT)

    Accelerometer noise for covariance prediction

    0.01 > 1.0 3.5e-1 m/s/s
    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 delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.

    Bitmask:
    • 0: use GPS
    • 1: use optical flow
    • 2: inhibit IMU bias estimation
    • 3: vision position fusion
    • 4: vision yaw fusion
    • 5: multi-rotor drag fusion
    • 6: rotate external vision
    • 7: GPS yaw fusion

    Reboot required: true

    0 > 255 1
    EKF2_ANGERR_INIT (FLOAT)

    1-sigma tilt angle uncertainty after gravity vector alignment

    Reboot required: true

    0.0 > 0.5 0.1 rad
    EKF2_ARSP_THR (FLOAT)

    Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion

    0.0 > ? 0.0 m/s
    EKF2_ASPD_MAX (FLOAT)

    Upper limit on airspeed along individual axes used to correct baro for position error effects

    5.0 > 50.0 20.0 m/s
    EKF2_ASP_DELAY (FLOAT)

    Airspeed measurement delay relative to IMU measurements

    Reboot required: true

    0 > 300 100 ms
    EKF2_AVEL_DELAY (FLOAT)

    Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements

    Reboot required: true

    0 > 300 5 ms
    EKF2_BARO_DELAY (FLOAT)

    Barometer measurement delay relative to IMU measurements

    Reboot required: true

    0 > 300 0 ms
    EKF2_BARO_GATE (FLOAT)

    Gate size for barometric and GPS height fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 5.0 SD
    EKF2_BARO_NOISE (FLOAT)

    Measurement noise for barometric altitude

    0.01 > 15.0 2.0 m
    EKF2_BCOEF_X (FLOAT)

    X-axis ballistic coefficient used by the multi-rotor specific drag force model. This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence

    1.0 > 100.0 25.0 kg/m2
    EKF2_BCOEF_Y (FLOAT)

    Y-axis ballistic coefficient used by the multi-rotor specific drag force model. This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence

    1.0 > 100.0 25.0 kg/m2
    EKF2_BETA_GATE (FLOAT)

    Gate size for synthetic sideslip fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 5.0 SD
    EKF2_BETA_NOISE (FLOAT)

    Noise for synthetic sideslip fusion

    0.1 > 1.0 0.3 m/s
    EKF2_DECL_TYPE (INT32)

    Integer bitmask controlling handling of magnetic declination

    Comment: Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.

    Bitmask:
    • 0: use geo_lookup declination
    • 1: save EKF2_MAG_DECL on disarm
    • 2: use declination as an observation

    Reboot required: true

    0 > 7 7
    EKF2_DRAG_NOISE (FLOAT)

    Specific drag force observation noise variance used by the multi-rotor specific drag force model. Increasing it makes the multi-rotor wind estimates adjust more slowly

    0.5 > 10.0 2.5 (m/sec2)2
    EKF2_EAS_NOISE (FLOAT)

    Measurement noise for airspeed fusion

    0.5 > 5.0 1.4 m/s
    EKF2_EVA_NOISE (FLOAT)

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

    0.01 > ? 0.05 rad
    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_EV_DELAY (FLOAT)

    Vision Position Estimator delay relative to IMU measurements

    Reboot required: true

    0 > 300 175 ms
    EKF2_EV_GATE (FLOAT)

    Gate size for vision estimate fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 5.0 SD
    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_FUSE_BETA (INT32)

    Boolean determining if synthetic sideslip measurements should fused

    Comment: A value of 1 indicates that fusion is active Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.

    0
    EKF2_GBIAS_INIT (FLOAT)

    1-sigma IMU gyro switch-on bias

    Reboot required: true

    0.0 > 0.2 0.1 rad/sec
    EKF2_GND_EFF_DZ (FLOAT)

    Baro deadzone range for height fusion

    Comment: Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.

    0.0 > 10.0 0.0 M
    EKF2_GND_MAX_HGT (FLOAT)

    Height above ground level for ground effect zone

    Comment: Sets the maximum distance to the ground level where negative baro innovations are expected.

    0.0 > 5.0 0.5 M
    EKF2_GPS_CHECK (INT32)

    Integer bitmask controlling GPS checks

    Comment: Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : 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 will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 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 > 511 245
    EKF2_GPS_DELAY (FLOAT)

    GPS measurement delay relative to IMU measurements

    Reboot required: true

    0 > 300 110 ms
    EKF2_GPS_MASK (INT32)

    Multi GPS Blending Control Mask

    Comment: Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy

    Bitmask:
    • 0: use speed accuracy
    • 1: use hpos accuracy
    • 2: use vpos accuracy
    0 > 7 0
    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_GPS_P_GATE (FLOAT)

    Gate size for GPS horizontal position fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 5.0 SD
    EKF2_GPS_P_NOISE (FLOAT)

    Measurement noise for gps position

    0.01 > 10.0 0.5 m
    EKF2_GPS_TAU (FLOAT)

    Multi GPS Blending Time Constant

    Comment: Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.

    1.0 > 100.0 10.0 s
    EKF2_GPS_V_GATE (FLOAT)

    Gate size for GPS velocity fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 5.0 SD
    EKF2_GPS_V_NOISE (FLOAT)

    Measurement noise for gps horizontal velocity

    0.01 > 5.0 0.5 m/s
    EKF2_GYR_B_NOISE (FLOAT)

    Process noise for IMU rate gyro bias prediction

    0.0 > 0.01 1.0e-3 rad/s2
    EKF2_GYR_NOISE (FLOAT)

    Rate gyro noise for covariance prediction

    0.0001 > 0.1 1.5e-2 rad/s
    EKF2_HDG_GATE (FLOAT)

    Gate size for magnetic heading fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 2.6 SD
    EKF2_HEAD_NOISE (FLOAT)

    Measurement noise for magnetic heading fusion

    0.01 > 1.0 0.3 rad
    EKF2_HGT_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

    Reboot required: true

    0
    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_MAGBIAS_ID (INT32)

    ID of Magnetometer the learned bias is for

    Reboot required: true

    0
    EKF2_MAGBIAS_X (FLOAT)

    Learned value of magnetometer X axis bias. This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    Reboot required: true

    -0.5 > 0.5 0.0 mGauss
    EKF2_MAGBIAS_Y (FLOAT)

    Learned value of magnetometer Y axis bias. This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    Reboot required: true

    -0.5 > 0.5 0.0 mGauss
    EKF2_MAGBIAS_Z (FLOAT)

    Learned value of magnetometer Z axis bias. This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    Reboot required: true

    -0.5 > 0.5 0.0 mGauss
    EKF2_MAGB_K (FLOAT)

    Maximum fraction of learned mag bias saved at each disarm. Smaller values make the saved mag bias learn slower from flight to flight. Larger values make it learn faster. Must be > 0.0 and <= 1.0

    0.0 > 1.0 0.2
    EKF2_MAGB_VREF (FLOAT)

    State variance assumed for magnetometer bias storage. This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster

    Reboot required: true

    2.5E-7 mGauss2
    EKF2_MAG_ACCLIM (FLOAT)

    Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion

    0.0 > 5.0 0.5 m/s2
    EKF2_MAG_B_NOISE (FLOAT)

    Process noise for body magnetic field prediction

    0.0 > 0.1 1.0e-4 Gauss/s
    EKF2_MAG_DECL (FLOAT)

    Magnetic declination

    0 deg
    EKF2_MAG_DELAY (FLOAT)

    Magnetometer measurement delay relative to IMU measurements

    Reboot required: true

    0 > 300 0 ms
    EKF2_MAG_E_NOISE (FLOAT)

    Process noise for earth magnetic field prediction

    0.0 > 0.1 1.0e-3 Gauss/s
    EKF2_MAG_GATE (FLOAT)

    Gate size for magnetometer XYZ component fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 3.0 SD
    EKF2_MAG_NOISE (FLOAT)

    Measurement noise for magnetometer 3-axis fusion

    0.001 > 1.0 5.0e-2 Gauss
    EKF2_MAG_TYPE (INT32)

    Type of magnetometer fusion

    Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to ‘Automatic’ magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to ‘Magnetic heading’ magnetic heading fusion is used at all times If set to ‘3-axis’ 3-axis field fusion is used at all times. If set to ‘VTOL custom’ the behaviour is the same as ‘Automatic’, but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to ‘MC custom’ the behaviour is the same as ‘Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to ‘None’ the magnetometer will not be used under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.

    Values:
    • 0: Automatic
    • 1: Magnetic heading
    • 2: 3-axis
    • 3: VTOL customn
    • 4: MC custom
    • 5: None

    Reboot required: true

    0
    EKF2_MAG_YAWLIM (FLOAT)

    Yaw rate threshold used by automatic selection of magnetometer fusion method. This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion

    0.0 > 1.0 0.25 rad/s
    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

    Reboot required: true

    10 > 50 20 ms
    EKF2_MIN_RNG (FLOAT)

    Minimum valid range for the range finder

    0.01 > ? 0.1 m
    EKF2_MOVE_TEST (FLOAT)

    Vehicle movement test threshold

    Comment: Scales the threshold tests applied to IMU data used to determine if the vehicle is static or moving. See parameter descriptions for EKF2_GPS_CHECK and EKF2_MAG_TYPE for further information on the functionality affected by this parameter.

    0.1 > 10.0 1.0
    EKF2_NOAID_NOISE (FLOAT)

    Measurement noise for non-aiding position hold

    0.5 > 50.0 10.0 m
    EKF2_NOAID_TOUT (INT32)

    Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid

    500000 > 10000000 5000000 uSec
    EKF2_OF_DELAY (FLOAT)

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

    Reboot required: true

    0 > 300 5 ms
    EKF2_OF_GATE (FLOAT)

    Gate size for optical flow fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 3.0 SD
    EKF2_OF_N_MAX (FLOAT)

    Measurement noise for the optical flow sensor

    Comment: (when it’s reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN

    0.05 > ? 0.5 rad/s
    EKF2_OF_N_MIN (FLOAT)

    Measurement noise for the optical flow sensor when it’s reported quality metric is at the maximum

    0.05 > ? 0.15 rad/s
    EKF2_OF_POS_X (FLOAT)

    X position of optical flow focal point in body frame

    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_OF_QMIN (INT32)

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

    0 > 255 1
    EKF2_PCOEF_XN (FLOAT)

    Static pressure position error coefficient for the negative X axis. This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number

    -0.5 > 0.5 0.0
    EKF2_PCOEF_XP (FLOAT)

    Static pressure position error coefficient for the positive X axis This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forward flight, then this will be a negative number

    -0.5 > 0.5 0.0
    EKF2_PCOEF_YN (FLOAT)

    Pressure position error coefficient for the negative Y axis. This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number

    -0.5 > 0.5 0.0
    EKF2_PCOEF_YP (FLOAT)

    Pressure position error coefficient for the positive Y axis. This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number

    -0.5 > 0.5 0.0
    EKF2_PCOEF_Z (FLOAT)

    Static pressure position error coefficient for the Z axis. This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis

    -0.5 > 0.5 0.0
    EKF2_REQ_EPH (FLOAT)

    Required EPH to use GPS

    2 > 100 3.0 m
    EKF2_REQ_EPV (FLOAT)

    Required EPV to use GPS

    2 > 100 5.0 m
    EKF2_REQ_GDOP (FLOAT)

    Required GDoP to use GPS

    1.5 > 5.0 2.5
    EKF2_REQ_GPS_H (FLOAT)

    Required GPS health time on startup

    Comment: Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it’s recommended to keep this unchanged for a vehicle.

    Reboot required: true

    0.1 > ? 10.0 s
    EKF2_REQ_HDRIFT (FLOAT)

    Maximum horizontal drift speed to use GPS

    0.1 > 1.0 0.1 m/s
    EKF2_REQ_NSATS (INT32)

    Required satellite count to use GPS

    4 > 12 6
    EKF2_REQ_SACC (FLOAT)

    Required speed accuracy to use GPS

    0.5 > 5.0 0.5 m/s
    EKF2_REQ_VDRIFT (FLOAT)

    Maximum vertical drift speed to use GPS

    0.1 > 1.5 0.2 m/s
    EKF2_RNG_AID (INT32)

    Range sensor aid

    Comment: If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it’s height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff.

    Values:
    • 0: Range aid disabled
    • 1: Range aid enabled
    0
    EKF2_RNG_A_HMAX (FLOAT)

    Maximum absolute altitude (height above ground level) allowed for range aid mode

    Comment: If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it’s height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).

    1.0 > 10.0 5.0 m
    EKF2_RNG_A_IGATE (FLOAT)

    Gate size used for innovation consistency checks for range aid fusion

    Comment: A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode

    0.1 > 5.0 1.0 SD
    EKF2_RNG_A_VMAX (FLOAT)

    Maximum horizontal velocity allowed for range aid mode

    Comment: If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it’s height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).

    0.1 > 2 1.0 m/s
    EKF2_RNG_DELAY (FLOAT)

    Range finder measurement delay relative to IMU measurements

    Reboot required: true

    0 > 300 5 ms
    EKF2_RNG_GATE (FLOAT)

    Gate size for range finder fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 5.0 SD
    EKF2_RNG_NOISE (FLOAT)

    Measurement noise for range finder fusion

    0.01 > ? 0.1 m
    EKF2_RNG_PITCH (FLOAT)

    Range sensor pitch offset

    -0.75 > 0.75 0.0 rad
    EKF2_RNG_POS_X (FLOAT)

    X position of range finder origin in body frame

    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_RNG_SFE (FLOAT)

    Range finder range dependant noise scaler

    Comment: Specifies the increase in range finder noise with range.

    0.0 > 0.2 0.05 m/m
    EKF2_TAS_GATE (FLOAT)

    Gate size for TAS fusion

    Comment: Sets the number of standard deviations used by the innovation consistency test.

    1.0 > ? 3.0 SD
    EKF2_TAU_POS (FLOAT)

    Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states

    0.1 > 1.0 0.25 s
    EKF2_TAU_VEL (FLOAT)

    Time constant of the velocity output prediction and smoothing filter

    ? > 1.0 0.25 s
    EKF2_TERR_GRAD (FLOAT)

    Magnitude of terrain gradient

    0.0 > ? 0.5 m/m
    EKF2_TERR_NOISE (FLOAT)

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

    0.5 > ? 5.0 m/s
    EKF2_WIND_NOISE (FLOAT)

    Process noise for wind velocity prediction

    0.0 > 1.0 1.0e-1 m/s/s

    Events

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    EV_TSK_RC_LOSS (INT32)

    RC Loss Alarm

    Comment: Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.

    Reboot required: true

    0
    EV_TSK_STAT_DIS (INT32)

    Status Display

    Comment: Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -

    Reboot required: true

    0

    FW Attitude Control

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_ARSP_MODE (INT32)

    Airspeed mode

    Comment: For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading

    Values:
    • 0: Normal (use airspeed if available)
    • 1: Airspeed disabled
    0
    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_DTRIM_P_FLPS (FLOAT)

    Pitch trim increment for flaps configuration

    Comment: This increment is added to the pitch trim whenever flaps are fully deployed.

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

    Pitch trim increment at maximum airspeed

    Comment: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.

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

    Pitch trim increment at minimum airspeed

    Comment: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.

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

    Roll trim increment for flaps configuration

    Comment: This increment is added to TRIM_ROLL whenever flaps are fully deployed.

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

    Roll trim increment at maximum airspeed

    Comment: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.

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

    Roll trim increment at minimum airspeed

    Comment: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.

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

    Yaw trim increment at maximum airspeed

    Comment: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.

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

    Yaw trim increment at minimum airspeed

    Comment: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.

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

    Scale factor for flaperons

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

    Flaps setting during landing

    Comment: Sets a fraction of full flaps (FW_FLAPS_SCL) during landing

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

    Scale factor for flaps

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

    Flaps setting during take-off

    Comment: Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off

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

    Manual pitch scale

    Comment: Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

    0.0 > ? (0.01) 1.0 norm
    FW_MAN_R_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_R_SC (FLOAT)

    Manual roll scale

    Comment: Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

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

    Manual yaw scale

    Comment: Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

    0.0 > ? (0.01) 1.0 norm
    FW_PR_FF (FLOAT)

    Pitch rate feed forward

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

    0.0 > 10.0 (0.05) 0.5 %/rad/s
    FW_PR_I (FLOAT)

    Pitch rate integrator gain

    Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.

    0.005 > 0.5 (0.005) 0.1 %/rad
    FW_PR_IMAX (FLOAT)

    Pitch rate integrator limit

    Comment: The portion of the integrator part in the control surface deflection is limited to this value

    0.0 > 1.0 (0.05) 0.4
    FW_PR_P (FLOAT)

    Pitch rate proportional gain

    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_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_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).

    0.0 > 90.0 (0.5) 60.0 deg/s
    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).

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

    Attitude pitch time constant

    Comment: This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.

    0.2 > 1.0 (0.05) 0.4 s
    FW_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_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_RR_FF (FLOAT)

    Roll rate feed forward

    Comment: Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.

    0.0 > 10.0 (0.05) 0.5 %/rad/s
    FW_RR_I (FLOAT)

    Roll rate integrator Gain

    Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.

    0.005 > 0.2 (0.005) 0.1 %/rad
    FW_RR_IMAX (FLOAT)

    Roll integrator anti-windup

    Comment: The portion of the integrator part in the control surface deflection is limited to this value.

    0.0 > 1.0 (0.05) 0.2
    FW_RR_P (FLOAT)

    Roll rate proportional Gain

    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_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_R_RMAX (FLOAT)

    Maximum roll rate

    Comment: This limits the maximum roll rate the controller will output (in degrees per second).

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

    Attitude Roll Time Constant

    Comment: This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.

    0.4 > 1.0 (0.05) 0.4 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_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_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_W_EN (INT32)

    Enable wheel steering controller

    0
    FW_W_RMAX (FLOAT)

    Maximum wheel steering rate

    Comment: This limits the maximum wheel steering rate the controller will output (in degrees per second).

    0.0 > 90.0 (0.5) 30.0 deg/s
    FW_YR_FF (FLOAT)

    Yaw rate feed forward

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

    0.0 > 10.0 (0.05) 0.3 %/rad/s
    FW_YR_I (FLOAT)

    Yaw rate integrator gain

    Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.

    0.0 > 50.0 (0.5) 0.1 %/rad
    FW_YR_IMAX (FLOAT)

    Yaw rate integrator limit

    Comment: The portion of the integrator part in the control surface deflection is limited to this value

    0.0 > 1.0 (0.05) 0.2
    FW_YR_P (FLOAT)

    Yaw rate proportional gain

    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_Y_RMAX (FLOAT)

    Maximum yaw rate

    Comment: This limits the maximum yaw rate the controller will output (in degrees per second).

    0.0 > 90.0 (0.5) 50.0 deg/s

    FW L1 Control

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_L1_DAMPING (FLOAT)

    L1 damping

    Comment: Damping factor for L1 control.

    0.6 > 0.9 (0.05) 0.75
    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_R_SLEW_MAX (FLOAT)

    L1 controller roll slew rate limit

    Comment: The maxium change in roll angle setpoint per second.

    0 > ? (1) 90.0 deg/s
    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_LND_ANG (FLOAT)

    Landing slope angle

    1.0 > 15.0 (0.5) 5.0 deg
    FW_LND_EARLYCFG (INT32)

    Early landing configuration deployment

    Comment: When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.

    0
    FW_LND_FLALT (FLOAT)

    Landing flare altitude (relative to landing altitude)

    0.0 > 25.0 (0.5) 3.0 m
    FW_LND_FL_PMAX (FLOAT)

    Flare, maximum pitch

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

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

    Flare, minimum pitch

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

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

    Landing heading hold horizontal distance. Set to 0 to disable heading hold

    0 > 30.0 (0.5) 15.0 m
    FW_LND_HVIRT (FLOAT)

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

    Throttle time constant factor for landing

    Comment: Set this parameter to less than 1.0 to make the TECS throttle loop react faster during landing than during normal flight (i.e. giving efficiency and low motor wear at high altitudes but control accuracy during landing). During landing, the TECS throttle time constant (FW_T_THRO_CONST) is multiplied by this value.

    0.2 > 1.0 (0.1) 1.0
    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_USETER (INT32)

    Use terrain estimate during landing

    Comment: This is turned off by default and a waypoint or return altitude is normally used (or sea level for an arbitrary land position).

    0
    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_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_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_ALT_SCL (FLOAT)

    Scale throttle by pressure change

    Comment: Automatically adjust throttle to account for decreased air density at higher altitudes. Start with a scale factor of 1.0 and adjust for different propulsion systems. When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges. The default value of 0 will disable scaling.

    0.0 > 10.0 (0.1) 0.0
    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_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 during landing below throttle limit altitude

    Comment: During the flare of the autonomous landing process, this value will be set as throttle limit when the aircraft altitude is below FW_LND_TLALT.

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

    Throttle limit max

    Comment: This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.

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

    Throttle limit min

    Comment: This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.

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

    Throttle max slew rate

    Comment: Maximum slew rate for the commanded throttle

    0.0 > 1.0 0.0

    FW Launch detection

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_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
    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

    FW TECS

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    FW_AIRSPD_MAX (FLOAT)

    Maximum Airspeed

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

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

    Minimum Airspeed

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

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

    Cruise Airspeed

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

    0.0 > 40 (0.5) 15.0 m/s
    FW_GND_SPD_MIN (FLOAT)

    Minimum groundspeed

    Comment: The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.

    0.0 > 40 (0.5) 5.0 m/s
    FW_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.

    1.0 > 15.0 (0.5) 5.0 m/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.

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

    Height rate feed forward

    0.0 > 1.0 (0.05) 0.8
    FW_T_HRATE_P (FLOAT)

    Height rate proportional factor

    0.0 > 1.0 (0.05) 0.05
    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. Set this value to zero to completely disable all integrator action.

    0.0 > 2.0 (0.05) 0.1
    FW_T_PTCH_DAMP (FLOAT)

    Pitch damping factor

    Comment: This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.

    0.0 > 2.0 (0.1) 0.0
    FW_T_RLL2THR (FLOAT)

    Roll -> Throttle feedforward

    Comment: Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.

    0.0 > 20.0 (0.5) 15.0
    FW_T_SINK_MAX (FLOAT)

    Maximum descent rate

    Comment: This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.

    1.0 > 15.0 (0.5) 5.0 m/s
    FW_T_SINK_MIN (FLOAT)

    Minimum descent rate

    Comment: This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.

    1.0 > 5.0 (0.5) 2.0 m/s
    FW_T_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).

    0.0 > 2.0 (1.0) 1.0
    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.

    1.0 > 10.0 (0.5) 2.0 rad/s
    FW_T_SRATE_P (FLOAT)

    Speed rate P factor

    0.0 > 2.0 (0.01) 0.02
    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.

    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.

    0.0 > 2.0 (0.1) 0.5
    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.

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

    Maximum vertical acceleration

    Comment: This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.

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

    Failure Detector

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    FD_FAIL_P (INT32)

    FailureDetector Max Pitch

    Comment: Maximum pitch angle before FailureDetector triggers the attitude_failure flag If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot will terminate the flight and set all the outputs to their failsafe value as soon as the attitude_failure flag is set. Setting this parameter to 0 disables the check

    60 > 180 60 degrees
    FD_FAIL_P_TTRI (FLOAT)

    Pitch failure trigger time

    Comment: Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.

    0.02 > 5 0.3 s
    FD_FAIL_R (INT32)

    FailureDetector Max Roll

    Comment: Maximum roll angle before FailureDetector triggers the attitude_failure flag If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot will terminate the flight and set all the outputs to their failsafe value as soon as the attitude_failure flag is set. Setting this parameter to 0 disables the check

    60 > 180 60 degrees
    FD_FAIL_R_TTRI (FLOAT)

    Roll failure trigger time

    Comment: Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.

    0.02 > 5 0.3 s

    Follow target

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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
    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

    GPS

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    GPS_1_CONFIG (INT32)

    Serial Configuration for Main GPS

    Comment: Configure on which serial port to run Main GPS.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    201
    GPS_2_CONFIG (INT32)

    Serial Configuration for Secondary GPS

    Comment: Configure on which serial port to run Secondary GPS.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    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_UBX_DYNMODEL (INT32)

    u-blox GPS dynamic platform model

    Comment: u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.

    Values:
    • 2: stationary
    • 4: automotive
    • 6: airborne with <1g acceleration
    • 7: airborne with <2g acceleration
    • 8: airborne with <4g acceleration

    Reboot required: true

    0 > 9 7
    GPS_YAW_OFFSET (FLOAT)

    Heading/Yaw offset for dual antenna GPS

    Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.

    Reboot required: true

    0 > 360 0. deg

    GPS Failure Navigation

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    NAV_GPSF_LT (FLOAT)

    Loiter time

    Comment: The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. Set to 0 to disable.

    0.0 > 3600.0 (1) 0.0 s
    NAV_GPSF_P (FLOAT)

    Fixed pitch angle

    Comment: Pitch in degrees during the open loop loiter

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

    Fixed bank angle

    Comment: Roll in degrees during the loiter

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

    Thrust

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

    0.0 > 1.0 (0.05) 0.0 norm

    Geofence

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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: Hold mode
    • 3: Return mode
    • 4: 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_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
    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

    Iridium SBD

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    ISBD_CONFIG (INT32)

    Serial Configuration for Iridium (with MAVLink)

    Comment: Configure on which serial port to run Iridium (with MAVLink).

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    ISBD_READ_INT (INT32)

    Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call

    0 > 5000 0 s
    ISBD_SBD_TIMEOUT (INT32)

    Iridium SBD session timeout

    0 > 300 60 s
    ISBD_STACK_TIME (INT32)

    Time [ms] the Iridium driver will wait for additional mavlink messages to combine them into one SBD message Value 0 turns the functionality off

    0 > 500 0 ms

    Land Detector

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    LNDFW_AIRSPD_MAX (FLOAT)

    Airspeed max

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

    4 > 20 8.00 m/s
    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)

    0.1 > 20 3.0 m/s
    LNDFW_XYACC_MAX (FLOAT)

    Fixedwing max horizontal acceleration

    Comment: Maximum horizontal (x,y body axes) acceleration allowed in the landed state (m/s^2)

    2 > 15 8.0 m/s^2
    LNDMC_ALT_MAX (FLOAT)

    Maximum altitude for multicopters

    Comment: The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.

    -1 > 10000 -1.0 m
    LNDMC_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_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_LOW_T_THR (FLOAT)

    Low throttle detection threshold

    Comment: Defines the commanded throttle value below which the land detector considers the vehicle to have “low thrust”. This is one condition that is used to detect the ground contact state. The value is calculated as val = (MPC_THR_HOVER - MPC_THR_MIN) * LNDMC_LOW_T_THR + MPC_THR_MIN Increase this value if the system takes long time to detect landing.

    0.1 > 0.9 0.3 norm
    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_XY_VEL_MAX (FLOAT)

    Multicopter max horizontal velocity

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

    1.5 m/s
    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
    LND_FLIGHT_T_HI (INT32)

    Total flight time in microseconds

    Comment: Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.

    0 > ? 0
    LND_FLIGHT_T_LO (INT32)

    Total flight time in microseconds

    Comment: Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.

    0 > ? 0

    Landing target Estimator

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    LTEST_ACC_UNC (FLOAT)

    Acceleration uncertainty

    Comment: Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection

    0.01 > ? 10.0 (m/s^2)^2
    LTEST_MEAS_UNC (FLOAT)

    Landing target measurement uncertainty

    Comment: Variance of the landing target measurement from the driver. Higher values results in less agressive following of the measurement and a smoother output as well as fewer rejected measurements.

    0.005 tan(rad)^2
    LTEST_MODE (INT32)

    Landing target mode

    Comment: Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.

    Values:
    • 0: Moving
    • 1: Stationary
    0 > 1 0
    LTEST_POS_UNC_IN (FLOAT)

    Initial landing target position uncertainty

    Comment: Initial variance of the relative landing target position in x and y direction

    0.001 > ? 0.1 m^2
    LTEST_SCALE_X (FLOAT)

    Scale factor for sensor measurements in sensor x axis

    Comment: Landing target x measurements are scaled by this factor before being used

    0.01 > ? 1.0
    LTEST_SCALE_Y (FLOAT)

    Scale factor for sensor measurements in sensor y axis

    Comment: Landing target y measurements are scaled by this factor before being used

    0.01 > ? 1.0
    LTEST_VEL_UNC_IN (FLOAT)

    Initial landing target velocity uncertainty

    Comment: Initial variance of the relative landing target velocity in x and y direction

    0.001 > ? 0.1 (m/s)^2

    Local Position Estimator

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    LPE_ACC_XY (FLOAT)

    Accelerometer xy noise density

    Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.

    0.00001 > 2 0.012 m/s^2/sqrt(Hz)
    LPE_ACC_Z (FLOAT)

    Accelerometer z noise density

    Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)

    0.00001 > 2 0.02 m/s^2/sqrt(Hz)
    LPE_BAR_Z (FLOAT)

    Barometric presssure altitude z standard deviation

    0.01 > 100 3.0 m
    LPE_EPH_MAX (FLOAT)

    Max EPH allowed for GPS initialization

    1.0 > 5.0 3.0 m
    LPE_EPV_MAX (FLOAT)

    Max EPV allowed for GPS initialization

    1.0 > 5.0 5.0 m
    LPE_FAKE_ORIGIN (INT32)

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

    0 > 1 0
    LPE_FGYRO_HP (FLOAT)

    Flow gyro high pass filter cut off frequency

    0 > 2 0.001 Hz
    LPE_FLW_OFF_Z (FLOAT)

    Optical flow z offset from center

    -1 > 1 0.0 m
    LPE_FLW_QMIN (INT32)

    Optical flow minimum quality threshold

    0 > 255 150
    LPE_FLW_R (FLOAT)

    Optical flow rotation (roll/pitch) noise gain

    0.1 > 10.0 7.0 m/s / (rad)
    LPE_FLW_RR (FLOAT)

    Optical flow angular velocity noise gain

    0.0 > 10.0 7.0 m/s / (rad/s)
    LPE_FLW_SCALE (FLOAT)

    Optical flow scale

    0.1 > 10.0 1.3 m
    LPE_FUSION (INT32)

    Integer bitmask controlling data fusion

    Comment: Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)

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

    GPS delay compensaton

    0 > 0.4 0.29 sec
    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_GPS_XY (FLOAT)

    Minimum GPS xy standard deviation, uses reported EPH if greater

    0.01 > 5 1.0 m
    LPE_GPS_Z (FLOAT)

    Minimum GPS z standard deviation, uses reported EPV if greater

    0.01 > 200 3.0 m
    LPE_LAND_VXY (FLOAT)

    Land detector xy velocity standard deviation

    0.01 > 10.0 0.05 m/s
    LPE_LAND_Z (FLOAT)

    Land detector z standard deviation

    0.001 > 10.0 0.03 m
    LPE_LAT (FLOAT)

    Local origin latitude for nav w/o GPS

    -90 > 90 47.397742 deg
    LPE_LDR_OFF_Z (FLOAT)

    Lidar z offset from center of vehicle +down

    -1 > 1 0.00 m
    LPE_LDR_Z (FLOAT)

    Lidar z standard deviation

    0.01 > 1 0.03 m
    LPE_LON (FLOAT)

    Local origin longitude for nav w/o GPS

    -180 > 180 8.545594 deg
    LPE_LT_COV (FLOAT)

    Minimum landing target standard covariance, uses reported covariance if greater

    0.0 > 10 0.0001 m^2
    LPE_PN_B (FLOAT)

    Accel bias propagation noise density

    0 > 1 1e-3 (m/s^2)/s/sqrt(Hz)
    LPE_PN_P (FLOAT)

    Position propagation noise density

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

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

    Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)

    0 > 1 0.001 (m/s)/(sqrt(hz))
    LPE_PN_V (FLOAT)

    Velocity propagation noise density

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

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

    Sonar z offset from center of vehicle +down

    -1 > 1 0.00 m
    LPE_SNR_Z (FLOAT)

    Sonar z standard deviation

    0.01 > 1 0.05 m
    LPE_T_MAX_GRADE (FLOAT)

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

    0 > 100 1.0 %
    LPE_VIC_P (FLOAT)

    Vicon position standard deviation

    0.0001 > 1 0.001 m
    LPE_VIS_DELAY (FLOAT)

    Vision delay 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_VXY_PUB (FLOAT)

    Required velocity xy standard deviation to publish position

    0.01 > 1.0 0.3 m/s
    LPE_X_LP (FLOAT)

    Cut frequency for state publication

    5 > 1000 5.0 Hz
    LPE_Z_PUB (FLOAT)

    Required z standard deviation to publish altitude/ terrain

    0.3 > 5.0 1.0 m
    参数名 参数描述 最小最大值 (增量) 默认值 单位
    MAV_0_CONFIG (INT32)

    Serial Configuration for MAVLink (instance 0)

    Comment: Configure on which serial port to run MAVLink.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    101
    MAV_0_FORWARD (INT32)

    Enable MAVLink Message forwarding for instance 0

    Comment: If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).

    Reboot required: True

    1
    MAV_0_MODE (INT32)

    MAVLink Mode for instance 0

    Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle’s attitude) and their sending rates.

    Values:
    • 0: Normal
    • 1: Custom
    • 2: Onboard
    • 3: OSD
    • 4: Magic
    • 5: Config
    • 7: Minimal
    • 8: External Vision

    Reboot required: True

    0
    MAV_0_RATE (INT32)

    Maximum MAVLink sending rate for instance 0

    Comment: Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).

    Reboot required: True

    0 > ? 1200 B/s
    MAV_1_CONFIG (INT32)

    Serial Configuration for MAVLink (instance 1)

    Comment: Configure on which serial port to run MAVLink.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    MAV_1_FORWARD (INT32)

    Enable MAVLink Message forwarding for instance 1

    Comment: If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).

    Reboot required: True

    0
    MAV_1_MODE (INT32)

    MAVLink Mode for instance 1

    Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle’s attitude) and their sending rates.

    Values:
    • 0: Normal
    • 1: Custom
    • 2: Onboard
    • 3: OSD
    • 4: Magic
    • 5: Config
    • 7: Minimal
    • 8: External Vision

    Reboot required: True

    2
    MAV_1_RATE (INT32)

    Maximum MAVLink sending rate for instance 1

    Comment: Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).

    Reboot required: True

    0 > ? 0 B/s
    MAV_2_CONFIG (INT32)

    Serial Configuration for MAVLink (instance 2)

    Comment: Configure on which serial port to run MAVLink.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    MAV_2_FORWARD (INT32)

    Enable MAVLink Message forwarding for instance 2

    Comment: If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).

    Reboot required: True

    0
    MAV_2_MODE (INT32)

    MAVLink Mode for instance 2

    Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle’s attitude) and their sending rates.

    Values:
    • 0: Normal
    • 1: Custom
    • 2: Onboard
    • 3: OSD
    • 4: Magic
    • 5: Config
    • 7: Minimal
    • 8: External Vision

    Reboot required: True

    0
    MAV_2_RATE (INT32)

    Maximum MAVLink sending rate for instance 2

    Comment: Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).

    Reboot required: True

    0 > ? 0 B/s
    MAV_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
    • 2: Only multicast
    0
    MAV_COMP_ID (INT32)

    MAVLink component ID

    Reboot required: true

    1 > 250 1
    MAV_FWDEXTSP (INT32)

    Forward external setpoint messages

    Comment: If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode

    1
    MAV_HASH_CHK_EN (INT32)

    Parameter hash check

    Comment: Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.

    1
    MAV_HB_FORW_EN (INT32)

    Hearbeat message forwarding

    Comment: The mavlink hearbeat message will not be forwarded if this parameter is set to ‘disabled’. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.

    1
    MAV_ODOM_LP (INT32)

    Activate ODOMETRY loopback

    Comment: If set, it gets the data from ‘vehicle_visual_odometry’ instead of ‘vehicle_odometry’ serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.

    0
    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_SYS_ID (INT32)

    MAVLink system ID

    Reboot required: true

    1 > 250 1
    MAV_TYPE (INT32)

    MAVLink airframe type

    Values:
    • 0: Generic micro air vehicle
    • 1: Fixed wing aircraft
    • 2: Quadrotor
    • 3: Coaxial helicopter
    • 4: Normal helicopter with tail rotor
    • 5: Ground installation
    • 6: Operator control unit / ground control station
    • 7: Airship, controlled
    • 8: Free balloon, uncontrolled
    • 9: Rocket
    • 10: Ground rover
    • 11: Surface vessel, boat, ship
    • 12: Submarine
    • 13: Hexarotor
    • 14: Octorotor
    • 15: Tricopter
    • 16: Flapping wing
    • 17: Kite
    • 18: Onboard companion controller
    • 19: Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
    • 20: Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
    • 21: Tiltrotor VTOL
    • 22: VTOL reserved 2
    • 23: VTOL reserved 3
    • 24: VTOL reserved 4
    • 25: VTOL reserved 5
    • 26: Onboard gimbal
    • 27: Onboard ADSB peripheral
    1 > 27 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

    MKBLCTRL Testmode

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    MKBLCTRL_TEST (INT32)

    Test mode (Identify) of MKBLCTRL Driver

    0

    MPU9x50 Configuration

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_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_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

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    COM_OBS_AVOID (INT32)

    Flag to enable obstacle avoidance

    0
    COM_TAKEOFF_ACT (INT32)

    Action after TAKEOFF has been accepted

    Comment: The mode transition after TAKEOFF has completed successfully.

    Values:
    • 0: Hold
    • 1: Mission (if valid)
    0
    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
    0 > 1 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.

    0 > 10000 (100) 900 m
    MIS_DIST_WPS (FLOAT)

    Maximal horizontal distance between waypoint

    Comment: Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.

    0 > 10000 (100) 900 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. set to -1, if there shouldn’t be a minimum loiter altitude

    -1 > 80 (0.5) -1.0 m
    MIS_MNT_YAW_CTL (INT32)

    Enable yaw control of the mount. (Only affects multicopters and ROI mission items)

    Comment: If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.

    Values:
    • 0: Disable
    • 1: Enable
    0 > 1 0
    MIS_TAKEOFF_ALT (FLOAT)

    Take-off altitude

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

    0 > 80 (0.5) 2.5 m
    MIS_TAKEOFF_REQ (INT32)

    Take-off waypoint required

    Comment: If set, the mission feasibility checker will check for a takeoff waypoint on the mission.

    0
    MIS_YAW_ERR (FLOAT)

    Max yaw error in degrees needed for waypoint heading acceptance

    0 > 90 (1) 12.0 deg
    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 transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.

    -1 > 20 (1) -1.0 s
    MPC_YAW_MODE (INT32)

    Yaw mode

    Comment: Specifies the heading in Auto.

    Values:
    • 0: towards waypoint
    • 1: towards home
    • 2: away from home
    • 3: along trajectory
    • 4: towards waypoint (yaw first)
    0 > 4 0
    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.

    0.05 > 200.0 (0.5) 10.0 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: Hold mode
    • 2: Return mode
    • 3: Land mode
    • 4: Data Link Auto Recovery (CASA Outback Challenge rules)
    • 5: Terminate
    • 6: Lockdown
    0
    NAV_FORCE_VT (INT32)

    Force VTOL mode takeoff and land

    1
    NAV_FW_ALTL_RAD (FLOAT)

    FW Altitude Acceptance Radius before a landing

    Comment: Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.

    0.05 > 200.0 5.0 m
    NAV_FW_ALT_RAD (FLOAT)

    FW Altitude Acceptance Radius

    Comment: Acceptance radius for fixedwing altitude.

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

    Loiter radius (FW only)

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

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

    MC Altitude Acceptance Radius

    Comment: Acceptance radius for multicopter altitude.

    0.05 > 200.0 (0.5) 0.8 m
    NAV_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: Hold mode
    • 2: Return mode
    • 3: Land mode
    • 4: RC Auto Recovery (CASA Outback Challenge rules)
    • 5: Terminate
    • 6: Lockdown
    2
    NAV_RCL_LT (FLOAT)

    RC Loss Loiter Time (CASA Outback Challenge rules)

    Comment: The amount of time in seconds the system should loiter at current position before termination. Only applies if NAV_RCL_ACT is set to 2 (CASA Outback Challenge rules). Set to -1 to make the system skip loitering.

    -1.0 > ? (0.1) 120.0 s
    NAV_TRAFF_AVOID (INT32)

    Set traffic avoidance mode

    Comment: Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders

    Values:
    • 0: Disabled
    • 1: Warn only
    • 2: Return mode
    • 3: Land mode
    1

    Mount

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    MNTDO_STAB (INT32)

    Stabilize the mount (set to true for servo gimbal, false for passthrough). Does not affect MAVLINK_ROI input

    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
    • 6: AUX6
    0 > 5 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
    • 6: AUX6
    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
    • 6: AUX6
    0 > 5 0
    MNT_MAV_COMPID (INT32)

    Mavlink Component ID of the mount

    Comment: If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID.

    154
    MNT_MAV_SYSID (INT32)

    Mavlink System ID of the mount

    Comment: If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID.

    1
    MNT_MODE_IN (INT32)

    Mount input mode

    Comment: 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

    Comment: 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_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_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_OFF_PITCH (FLOAT)

    Offset for pitch channel output in degrees

    -360.0 > 360.0 0.0
    MNT_OFF_ROLL (FLOAT)

    Offset for roll channel output in degrees

    -360.0 > 360.0 0.0
    MNT_OFF_YAW (FLOAT)

    Offset for yaw channel output in degrees

    -360.0 > 360.0 0.0
    MNT_RANGE_PITCH (FLOAT)

    Range of pitch channel output in degrees (only in AUX output mode)

    1.0 > 720.0 360.0
    MNT_RANGE_ROLL (FLOAT)

    Range of roll channel output in degrees (only in AUX output mode)

    1.0 > 720.0 360.0
    MNT_RANGE_YAW (FLOAT)

    Range of yaw channel output in degrees (only in AUX output mode)

    1.0 > 720.0 360.0

    Multicopter Attitude Control

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    MC_ACRO_EXPO (FLOAT)

    Acro mode Expo factor for Roll and Pitch

    Comment: Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve

    0 > 1 0.69
    MC_ACRO_EXPO_Y (FLOAT)

    Acro mode Expo factor for Yaw

    Comment: Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve

    0 > 1 0.69
    MC_ACRO_P_MAX (FLOAT)

    Max acro pitch rate default: 2 turns per second

    0.0 > 1800.0 (5) 720.0 deg/s
    MC_ACRO_R_MAX (FLOAT)

    Max acro roll rate default: 2 turns per second

    0.0 > 1800.0 (5) 720.0 deg/s
    MC_ACRO_SUPEXPO (FLOAT)

    Acro mode SuperExpo factor for Roll and Pitch

    Comment: SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect

    0 > 0.95 0.7
    MC_ACRO_SUPEXPOY (FLOAT)

    Acro mode SuperExpo factor for Yaw

    Comment: SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect

    0 > 0.95 0.7
    MC_ACRO_Y_MAX (FLOAT)

    Max acro yaw rate default 1.5 turns per second

    0.0 > 1800.0 (5) 540.0 deg/s
    MC_AIRMODE (INT32)

    Multicopter air-mode

    Comment: The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.

    Values:
    • 0: Disabled
    • 1: Roll/Pitch
    • 2: Roll/Pitch/Yaw
    0
    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.

    0
    MC_DTERM_CUTOFF (FLOAT)

    Cutoff frequency for the low pass filter on the D-term in the rate controller

    Comment: The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.

    0 > 1000 (10) 0. Hz
    MC_PITCHRATE_D (FLOAT)

    Pitch rate D gain

    Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

    0.0 > ? (0.0005) 0.003
    MC_PITCHRATE_FF (FLOAT)

    Pitch rate feedforward

    Comment: Improves tracking performance.

    0.0 > ? 0.0
    MC_PITCHRATE_I (FLOAT)

    Pitch rate I gain

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

    0.0 > ? (0.01) 0.2
    MC_PITCHRATE_K (FLOAT)

    Pitch rate controller gain

    Comment: Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K (MC_PITCHRATE_P error + MC_PITCHRATE_I error_integral + MC_PITCHRATE_D error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.

    0.0 > 5.0 (0.0005) 1.0
    MC_PITCHRATE_MAX (FLOAT)

    Max pitch rate

    Comment: Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle’s properties, but also by the maximum measurement rate of the gyro.

    0.0 > 1800.0 (5) 220.0 deg/s
    MC_PITCHRATE_P (FLOAT)

    Pitch rate P gain

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

    0.0 > 0.6 (0.01) 0.15
    MC_PITCH_P (FLOAT)

    Pitch P gain

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

    0.0 > 12 (0.1) 6.5 1/s
    MC_PR_INT_LIM (FLOAT)

    Pitch rate integrator limit

    Comment: Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.

    0.0 > ? (0.01) 0.30
    MC_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
    MC_ROLLRATE_D (FLOAT)

    Roll rate D gain

    Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

    0.0 > 0.01 (0.0005) 0.003
    MC_ROLLRATE_FF (FLOAT)

    Roll rate feedforward

    Comment: Improves tracking performance.

    0.0 > ? 0.0
    MC_ROLLRATE_I (FLOAT)

    Roll rate I gain

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

    0.0 > ? (0.01) 0.2
    MC_ROLLRATE_K (FLOAT)

    Roll rate controller gain

    Comment: Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K (MC_ROLLRATE_P error + MC_ROLLRATE_I error_integral + MC_ROLLRATE_D error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.

    0.0 > 5.0 (0.0005) 1.0
    MC_ROLLRATE_MAX (FLOAT)

    Max roll rate

    Comment: Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle’s properties, but also by the maximum measurement rate of the gyro.

    0.0 > 1800.0 (5) 220.0 deg/s
    MC_ROLLRATE_P (FLOAT)

    Roll rate P gain

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

    0.0 > 0.5 (0.01) 0.15
    MC_ROLL_P (FLOAT)

    Roll P gain

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

    0.0 > 12 (0.1) 6.5 1/s
    MC_RR_INT_LIM (FLOAT)

    Roll rate integrator limit

    Comment: Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.

    0.0 > ? (0.01) 0.30
    MC_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

    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

    0.0 > 1.0 (0.1) 1.0
    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

    0.0 > 1.0 (0.1) 1.0
    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))

    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))

    0.0 > 1.0 (0.05) 0.0
    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))

    0.0 > 1.0 (0.05) 0.0
    MC_YAWRATE_D (FLOAT)

    Yaw rate D gain

    Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

    0.0 > ? (0.01) 0.0
    MC_YAWRATE_FF (FLOAT)

    Yaw rate feedforward

    Comment: Improves tracking performance.

    0.0 > ? (0.01) 0.0
    MC_YAWRATE_I (FLOAT)

    Yaw rate I gain

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

    0.0 > ? (0.01) 0.1
    MC_YAWRATE_K (FLOAT)

    Yaw rate controller gain

    Comment: Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K (MC_YAWRATE_P error + MC_YAWRATE_I error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.

    0.0 > 5.0 (0.0005) 1.0
    MC_YAWRATE_MAX (FLOAT)

    Max yaw rate

    0.0 > 1800.0 (5) 200.0 deg/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.

    0.0 > 0.6 (0.01) 0.2
    MC_YAW_P (FLOAT)

    Yaw P gain

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

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

    Yaw rate integrator limit

    Comment: Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.

    0.0 > ? (0.01) 0.30
    MPC_YAWRAUTO_MAX (FLOAT)

    Max yaw rate in auto mode

    Comment: Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.

    0.0 > 360.0 (5) 45.0 deg/s

    Multicopter Position Control

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    MPC_ACC_DOWN_MAX (FLOAT)

    Maximum vertical acceleration in velocity controlled modes down

    2.0 > 15.0 (1) 3.0 m/s/s
    MPC_ACC_HOR (FLOAT)

    Acceleration for auto and for manual

    Comment: Note: In manual, this parameter is only used in MPC_POS_MODE 1.

    2.0 > 15.0 (1) 3.0 m/s/s
    MPC_ACC_HOR_ESTM (FLOAT)

    Horizontal acceleration in manual modes when te estimator speed limit is removed. If full stick is being applied and the estimator stops demanding a speed limit, which it had been before (e.g if GPS is gained while flying on optical flow/vision only), the vehicle will accelerate at this rate until the normal position control speed is achieved

    0.2 > 2.0 (0.1) 0.5 m/s/s
    MPC_ACC_HOR_MAX (FLOAT)

    Maximum horizontal acceleration for auto mode and for manual mode

    Comment: Manual mode: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3. Auto mode: Used with MPC_AUTO_MODE 0 only. For MPC_AUTO_MODE 1, MPC_ACC_HOR is always used.

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

    Maximum vertical acceleration in velocity controlled modes upward

    2.0 > 15.0 (1) 4.0 m/s/s
    MPC_ALT_MODE (INT32)

    Altitude control mode

    Comment: Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.

    Values:
    • 0: Altitude following
    • 1: Terrain following
    • 2: Terrain hold
    0 > 2 0
    MPC_AUTO_MODE (INT32)

    Auto sub-mode

    Values:
    • 0: Default line tracking
    • 1: Jerk-limited trajectory
    1
    MPC_COL_PREV_ANG (FLOAT)

    Angle left/right from the commanded setpoint in which the range data is used to calculate speed limitations. All data further from the commanded direction is not considered

    Comment: Only used in Position mode.

    0 > 90 45. [deg]
    MPC_COL_PREV_D (FLOAT)

    Minimum distance the vehicle should keep to all obstacles

    Comment: Only used in Position mode. Collision avoidace is disabled by setting this parameter to a negative value

    -1 > 15 -1.0 meters
    MPC_COL_PREV_DLY (FLOAT)

    Average delay of the range sensor message in seconds

    Comment: Only used in Position mode.

    0 > 1 0. seconds
    MPC_CRUISE_90 (FLOAT)

    Cruise speed when angle prev-current/current-next setpoint is 90 degrees. It should be lower than MPC_XY_CRUISE

    Comment: Applies only in AUTO modes (includes also RTL / hold / etc.)

    1.0 > 20.0 (1) 3.0 m/s
    MPC_DEC_HOR_SLOW (FLOAT)

    Slow horizontal manual deceleration for manual mode

    Comment: Note: This is only used when MPC_POS_MODE is set to 1.

    0.5 > 10.0 (1) 5.0 m/s/s
    MPC_HOLD_DZ (FLOAT)

    Deadzone of sticks where position hold is enabled

    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)

    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)

    0.0 > 3.0 0.6 m/s
    MPC_JERK_AUTO (FLOAT)

    Jerk limit in auto mode

    Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility. Note: This is only used in jerk-limited trajectory mode (MPC_AUTO_MODE 1)

    5.0 > 80.0 (1) 8.0 m/s/s/s
    MPC_JERK_MAX (FLOAT)

    Maximum jerk limit

    Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.

    0.5 > 500.0 (1) 20.0 m/s/s/s
    MPC_JERK_MIN (FLOAT)

    Velocity-based jerk limit

    Comment: If this is not zero, a velocity-based maximum jerk limit is used: the applied jerk limit linearly increases with the vehicle’s velocity between MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). This means that the vehicle’s motions are smooth for low velocities, but still allows fast direction changes or breaking at higher velocities. Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). Note: This is only used when MPC_POS_MODE is set to 1.

    0 > 30.0 (1) 8.0 m/s/s/s
    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”

    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”

    0 > 122 5.0 m
    MPC_LAND_SPEED (FLOAT)

    Landing descend rate

    0.6 > ? 0.7 m/s
    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. With MC_AIRMODE set to 1, this can safely be set to 0.

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

    Maximal tilt angle in manual or altitude mode

    0.0 > 90.0 35.0 deg
    MPC_MAN_Y_MAX (FLOAT)

    Max manual yaw rate

    0.0 > 400 150.0 deg/s
    MPC_POS_MODE (INT32)

    Manual-Position control sub-mode

    Comment: The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1).

    Values:
    • 0: Default position control
    • 1: Smooth position control
    • 2: Sport position control
    • 3: Smooth position control (Velocity)
    3
    MPC_SPOOLUP_TIME (FLOAT)

    Enforced delay between arming and takeoff

    Comment: For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e.g. because of large propellers.

    0 > 10 1.0 s
    MPC_THR_CURVE (INT32)

    Thrust curve in Manual Mode

    Comment: This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used (‘Rescale to hover thrust’), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select ‘No Rescale’ to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.

    Values:
    • 0: Rescale to hover thrust
    • 1: No Rescale
    0
    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 Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.

    0.1 > 0.8 (0.01) 0.5 norm
    MPC_THR_MAX (FLOAT)

    Maximum thrust in auto thrust control

    Comment: Limit max allowed thrust

    0.0 > 1.0 (0.01) 1.0 norm
    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.

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

    Maximum tilt angle in air

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

    20.0 > 180.0 45.0 deg
    MPC_TILTMAX_LND (FLOAT)

    Maximum tilt during landing

    Comment: Limits maximum tilt angle on landing.

    10.0 > 90.0 12.0 deg
    MPC_TKO_RAMP_T (FLOAT)

    Position control smooth takeoff ramp time constant

    Comment: Increasing this value will make automatic and manual takeoff slower. If it’s too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp

    0 > 5 3.0
    MPC_TKO_SPEED (FLOAT)

    Takeoff climb rate

    1 > 5 1.5 m/s
    MPC_VELD_LP (FLOAT)

    Low pass filter cut freq. for numerical velocity derivative

    0.0 > 10 5.0 Hz
    MPC_VEL_MANUAL (FLOAT)

    Maximum horizontal velocity setpoint for manual controlled mode If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX

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

    Maximum horizontal velocity in mission

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

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

    Manual position control stick exponential curve sensitivity

    Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve

    0 > 1 0.6
    MPC_XY_P (FLOAT)

    Proportional gain for horizontal position error

    0.0 > 2.0 0.95
    MPC_XY_TRAJ_P (FLOAT)

    Proportional gain for horizontal trajectory position error

    0.1 > 1.0 0.5
    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

    0.005 > 0.1 0.01
    MPC_XY_VEL_I (FLOAT)

    Integral gain for horizontal velocity error

    Comment: Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.

    0.0 > 3.0 0.02
    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.

    0.0 > 20.0 (1) 12.0 m/s
    MPC_XY_VEL_P (FLOAT)

    Proportional gain for horizontal velocity error

    0.06 > 0.15 0.09
    MPC_YAW_EXPO (FLOAT)

    Manual control stick yaw rotation exponential curve

    Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve

    0 > 1 0.6
    MPC_Z_MAN_EXPO (FLOAT)

    Manual control stick vertical exponential curve

    Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve

    0 > 1 0.6
    MPC_Z_P (FLOAT)

    Proportional gain for vertical position error

    0.0 > 1.5 1.0
    MPC_Z_TRAJ_P (FLOAT)

    Proportional gain for vertical trajectory position error

    0.1 > 1.0 0.3
    MPC_Z_VEL_D (FLOAT)

    Differential gain for vertical velocity error

    0.0 > 0.1 0.0
    MPC_Z_VEL_I (FLOAT)

    Integral gain for vertical velocity error

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

    0.01 > 0.1 0.1
    MPC_Z_VEL_MAX_DN (FLOAT)

    Maximum vertical descent velocity

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

    0.5 > 4.0 1.0 m/s
    MPC_Z_VEL_MAX_UP (FLOAT)

    Maximum vertical ascent velocity

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

    0.5 > 8.0 3.0 m/s
    MPC_Z_VEL_P (FLOAT)

    Proportional gain for vertical velocity error

    0.1 > 0.4 0.2
    WV_EN (INT32)

    Enable weathervane

    0
    WV_ROLL_MIN (FLOAT)

    Minimum roll angle setpoint for weathervane controller to demand a yaw-rate

    0 > 5 1.0 deg
    WV_YRATE_MAX (FLOAT)

    Maximum yawrate the weathervane controller is allowed to demand

    0 > 120 90.0 deg/s

    OSD

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    OSD_ATXXXX_CFG (INT32)

    Enable/Disable the ATXXX OSD Chip

    Comment: Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.

    Values:
    • 0: Disabled
    • 1: NTSC
    • 2: PAL

    Reboot required: true

    0

    PWM Outputs

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    MOT_ORDERING (INT32)

    Motor Ordering

    Comment: Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. ONLY supported for fmu output (Pixracer or Omnibus F4). When changing this, make sure to test the motor response without props first.

    Values:
    • 0: PX4
    • 1: Betaflight / Cleanflight
    0 > 1 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.

    0.0 > ? 0.0 s/(1000PWM)
    PWM_AUX_DIS1 (INT32)

    Set the disarmed PWM for the auxiliary 1 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS2 (INT32)

    Set the disarmed PWM for the auxiliary 2 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS3 (INT32)

    Set the disarmed PWM for the auxiliary 3 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS4 (INT32)

    Set the disarmed PWM for the auxiliary 4 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS5 (INT32)

    Set the disarmed PWM for the auxiliary 5 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS6 (INT32)

    Set the disarmed PWM for the auxiliary 6 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS7 (INT32)

    Set the disarmed PWM for the auxiliary 7 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DIS8 (INT32)

    Set the disarmed PWM for the auxiliary 8 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_DISARMED (INT32)

    Set the disarmed PWM for auxiliary outputs

    Comment: 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

    0 > 2200 1500 us
    PWM_AUX_FAIL1 (INT32)

    Set the failsafe PWM for the auxiliary 1 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL2 (INT32)

    Set the failsafe PWM for the auxiliary 2 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL3 (INT32)

    Set the failsafe PWM for the auxiliary 3 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL4 (INT32)

    Set the failsafe PWM for the auxiliary 4 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL5 (INT32)

    Set the failsafe PWM for the auxiliary 5 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL6 (INT32)

    Set the failsafe PWM for the auxiliary 6 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL7 (INT32)

    Set the failsafe PWM for the auxiliary 7 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_FAIL8 (INT32)

    Set the failsafe PWM for the auxiliary 8 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX (INT32)

    Set the maximum PWM for the auxiliary outputs

    Comment: Set to 2000 for industry default or 2100 to increase servo travel.

    Reboot required: true

    1600 > 2200 2000 us
    PWM_AUX_MAX1 (INT32)

    Set the max PWM value for the auxiliary 1 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX2 (INT32)

    Set the max PWM value for the auxiliary 2 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX3 (INT32)

    Set the max PWM value for the auxiliary 3 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX4 (INT32)

    Set the max PWM value for the auxiliary 4 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX5 (INT32)

    Set the max PWM value for the auxiliary 5 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX6 (INT32)

    Set the max PWM value for the auxiliary 6 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX7 (INT32)

    Set the max PWM value for the auxiliary 7 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MAX8 (INT32)

    Set the max PWM value for the auxiliary 8 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN (INT32)

    Set the minimum PWM for the auxiliary outputs

    Comment: Set to 1000 for industry default or 900 to increase servo travel.

    Reboot required: true

    800 > 1400 1000 us
    PWM_AUX_MIN1 (INT32)

    Set the min PWM value for the auxiliary 1 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN2 (INT32)

    Set the min PWM value for the auxiliary 2 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN3 (INT32)

    Set the min PWM value for the auxiliary 3 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN4 (INT32)

    Set the min PWM value for the auxiliary 4 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN5 (INT32)

    Set the min PWM value for the auxiliary 5 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN6 (INT32)

    Set the min PWM value for the auxiliary 6 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN7 (INT32)

    Set the min PWM value for the auxiliary 7 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_MIN8 (INT32)

    Set the min PWM value for the auxiliary 8 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_AUX_RATE (INT32)

    Set the PWM output frequency for the auxiliary outputs

    Comment: Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

    Reboot required: true

    -1 > 2000 50 Hz
    PWM_AUX_REV1 (INT32)

    Invert direction of auxiliary output channel 1

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV2 (INT32)

    Invert direction of auxiliary output channel 2

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV3 (INT32)

    Invert direction of auxiliary output channel 3

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV4 (INT32)

    Invert direction of auxiliary output channel 4

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV5 (INT32)

    Invert direction of auxiliary output channel 5

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV6 (INT32)

    Invert direction of auxiliary output channel 6

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV7 (INT32)

    Invert direction of auxiliary output channel 7

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_REV8 (INT32)

    Invert direction of auxiliary output channel 8

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_AUX_TRIM1 (FLOAT)

    Trim value for auxiliary output channel 1

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM2 (FLOAT)

    Trim value for auxiliary output channel 2

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM3 (FLOAT)

    Trim value for auxiliary output channel 3

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM4 (FLOAT)

    Trim value for auxiliary output channel 4

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM5 (FLOAT)

    Trim value for auxiliary output channel 5

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM6 (FLOAT)

    Trim value for auxiliary output channel 6

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM7 (FLOAT)

    Trim value for auxiliary output channel 7

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_AUX_TRIM8 (FLOAT)

    Trim value for auxiliary output channel 8

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_DISARMED (INT32)

    Set the disarmed PWM for the main outputs

    Comment: 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

    0 > 2200 900 us
    PWM_MAIN_DIS1 (INT32)

    Set the disarmed PWM for the main 1 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS2 (INT32)

    Set the disarmed PWM for the main 2 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS3 (INT32)

    Set the disarmed PWM for the main 3 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS4 (INT32)

    Set the disarmed PWM for the main 4 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS5 (INT32)

    Set the disarmed PWM for the main 5 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS6 (INT32)

    Set the disarmed PWM for the main 6 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS7 (INT32)

    Set the disarmed PWM for the main 7 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_DIS8 (INT32)

    Set the disarmed PWM for the main 8 output

    Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL1 (INT32)

    Set the failsafe PWM for the main 1 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL2 (INT32)

    Set the failsafe PWM for the main 2 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL3 (INT32)

    Set the failsafe PWM for the main 3 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL4 (INT32)

    Set the failsafe PWM for the main 4 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL5 (INT32)

    Set the failsafe PWM for the main 5 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL6 (INT32)

    Set the failsafe PWM for the main 6 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL7 (INT32)

    Set the failsafe PWM for the main 7 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_FAIL8 (INT32)

    Set the failsafe PWM for the main 8 output

    Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX1 (INT32)

    Set the max PWM value for the main 1 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX2 (INT32)

    Set the max PWM value for the main 2 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX3 (INT32)

    Set the max PWM value for the main 3 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX4 (INT32)

    Set the max PWM value for the main 4 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX5 (INT32)

    Set the max PWM value for the main 5 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX6 (INT32)

    Set the max PWM value for the main 6 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX7 (INT32)

    Set the max PWM value for the main 7 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MAX8 (INT32)

    Set the max PWM value for the main 8 output

    Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN1 (INT32)

    Set the min PWM value for the main 1 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN2 (INT32)

    Set the min PWM value for the main 2 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN3 (INT32)

    Set the min PWM value for the main 3 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN4 (INT32)

    Set the min PWM value for the main 4 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN5 (INT32)

    Set the min PWM value for the main 5 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN6 (INT32)

    Set the min PWM value for the main 6 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN7 (INT32)

    Set the min PWM value for the main 7 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_MIN8 (INT32)

    Set the min PWM value for the main 8 output

    Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

    Reboot required: true

    -1 > 2200 -1 us
    PWM_MAIN_REV1 (INT32)

    Invert direction of main output channel 1

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV2 (INT32)

    Invert direction of main output channel 2

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV3 (INT32)

    Invert direction of main output channel 3

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV4 (INT32)

    Invert direction of main output channel 4

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV5 (INT32)

    Invert direction of main output channel 5

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV6 (INT32)

    Invert direction of main output channel 6

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV7 (INT32)

    Invert direction of main output channel 7

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_REV8 (INT32)

    Invert direction of main output channel 8

    Comment: Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.

    0
    PWM_MAIN_TRIM1 (FLOAT)

    Trim value for main output channel 1

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM2 (FLOAT)

    Trim value for main output channel 2

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM3 (FLOAT)

    Trim value for main output channel 3

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM4 (FLOAT)

    Trim value for main output channel 4

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM5 (FLOAT)

    Trim value for main output channel 5

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM6 (FLOAT)

    Trim value for main output channel 6

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM7 (FLOAT)

    Trim value for main output channel 7

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAIN_TRIM8 (FLOAT)

    Trim value for main output channel 8

    Comment: Set to normalized offset

    -0.2 > 0.2 0
    PWM_MAX (INT32)

    Set the maximum PWM for the main outputs

    Comment: Set to 2000 for industry default or 2100 to increase servo travel.

    Reboot required: true

    1600 > 2200 2000 us
    PWM_MIN (INT32)

    Set the minimum PWM for the main outputs

    Comment: Set to 1000 for industry default or 900 to increase servo travel.

    Reboot required: true

    800 > 1400 1000 us
    PWM_RATE (INT32)

    Set the PWM output frequency for the main outputs

    Comment: Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

    Reboot required: true

    -1 > 2000 400 Hz
    PWM_SBUS_MODE (INT32)

    S.BUS out

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

    0
    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

    0.0 > 1.0 0.0

    Payload drop

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_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
    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_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

    Precision Land

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    PLD_BTOUT (FLOAT)

    Landing Target Timeout

    Comment: Time after which the landing target is considered lost without any new measurements.

    0.0 > 50 (0.5) 5.0 s
    PLD_FAPPR_ALT (FLOAT)

    Final approach altitude

    Comment: Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.

    0.0 > 10 (0.1) 0.1 m
    PLD_HACC_RAD (FLOAT)

    Horizontal acceptance radius

    Comment: Start descending if closer above landing target than this.

    0.0 > 10 (0.1) 0.2 m
    PLD_MAX_SRCH (INT32)

    Maximum number of search attempts

    Comment: Maximum number of times to seach for the landing target if it is lost during the precision landing.

    0 > 100 3
    PLD_SRCH_ALT (FLOAT)

    Search altitude

    Comment: Altitude above home to which to climb when searching for the landing target.

    0.0 > 100 (0.1) 10.0 m
    PLD_SRCH_TOUT (FLOAT)

    Search timeout

    Comment: Time allowed to search for the landing target before falling back to normal landing.

    0.0 > 100 (0.1) 10.0 s

    RC Receiver Configuration

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RC_RECEIVER_TYPE (INT32)

    RC receiver type

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

    1

    RTPS

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RTPS_CONFIG (INT32)

    Serial Configuration for FastRTPS

    Comment: Configure on which serial port to run FastRTPS.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    RTPS_MAV_CONFIG (INT32)

    Serial Configuration for MAVLink + FastRTPS

    Comment: Configure on which serial port to run MAVLink + FastRTPS.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0

    Radio Calibration

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RC10_DZ (FLOAT)

    RC channel 10 dead zone

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

    0.0 > 100.0 0.0
    RC10_MAX (FLOAT)

    RC channel 10 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC10_MIN (FLOAT)

    RC channel 10 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC10_REV (FLOAT)

    RC channel 10 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC10_TRIM (FLOAT)

    RC channel 10 trim

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

    800.0 > 2200.0 1500 us
    RC11_DZ (FLOAT)

    RC channel 11 dead zone

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

    0.0 > 100.0 0.0
    RC11_MAX (FLOAT)

    RC channel 11 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC11_MIN (FLOAT)

    RC channel 11 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC11_REV (FLOAT)

    RC channel 11 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC11_TRIM (FLOAT)

    RC channel 11 trim

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

    800.0 > 2200.0 1500 us
    RC12_DZ (FLOAT)

    RC channel 12 dead zone

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

    0.0 > 100.0 0.0
    RC12_MAX (FLOAT)

    RC channel 12 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC12_MIN (FLOAT)

    RC channel 12 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC12_REV (FLOAT)

    RC channel 12 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC12_TRIM (FLOAT)

    RC channel 12 trim

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

    800.0 > 2200.0 1500 us
    RC13_DZ (FLOAT)

    RC channel 13 dead zone

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

    0.0 > 100.0 0.0
    RC13_MAX (FLOAT)

    RC channel 13 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC13_MIN (FLOAT)

    RC channel 13 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC13_REV (FLOAT)

    RC channel 13 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC13_TRIM (FLOAT)

    RC channel 13 trim

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

    800.0 > 2200.0 1500 us
    RC14_DZ (FLOAT)

    RC channel 14 dead zone

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

    0.0 > 100.0 0.0
    RC14_MAX (FLOAT)

    RC channel 14 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC14_MIN (FLOAT)

    RC channel 14 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC14_REV (FLOAT)

    RC channel 14 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC14_TRIM (FLOAT)

    RC channel 14 trim

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

    800.0 > 2200.0 1500 us
    RC15_DZ (FLOAT)

    RC channel 15 dead zone

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

    0.0 > 100.0 0.0
    RC15_MAX (FLOAT)

    RC channel 15 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC15_MIN (FLOAT)

    RC channel 15 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC15_REV (FLOAT)

    RC channel 15 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC15_TRIM (FLOAT)

    RC channel 15 trim

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

    800.0 > 2200.0 1500 us
    RC16_DZ (FLOAT)

    RC channel 16 dead zone

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

    0.0 > 100.0 0.0
    RC16_MAX (FLOAT)

    RC channel 16 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC16_MIN (FLOAT)

    RC channel 16 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC16_REV (FLOAT)

    RC channel 16 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC16_TRIM (FLOAT)

    RC channel 16 trim

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

    800.0 > 2200.0 1500 us
    RC17_DZ (FLOAT)

    RC channel 17 dead zone

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

    0.0 > 100.0 0.0
    RC17_MAX (FLOAT)

    RC channel 17 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC17_MIN (FLOAT)

    RC channel 17 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC17_REV (FLOAT)

    RC channel 17 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC17_TRIM (FLOAT)

    RC channel 17 trim

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

    800.0 > 2200.0 1500 us
    RC18_DZ (FLOAT)

    RC channel 18 dead zone

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

    0.0 > 100.0 0.0
    RC18_MAX (FLOAT)

    RC channel 18 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC18_MIN (FLOAT)

    RC channel 18 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC18_REV (FLOAT)

    RC channel 18 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC18_TRIM (FLOAT)

    RC channel 18 trim

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

    800.0 > 2200.0 1500 us
    RC1_DZ (FLOAT)

    RC channel 1 dead zone

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

    0.0 > 100.0 10.0 us
    RC1_MAX (FLOAT)

    RC channel 1 maximum

    Comment: Maximum value for RC channel 1

    1500.0 > 2200.0 2000.0 us
    RC1_MIN (FLOAT)

    RC channel 1 minimum

    Comment: Minimum value for RC channel 1

    800.0 > 1500.0 1000.0 us
    RC1_REV (FLOAT)

    RC channel 1 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC1_TRIM (FLOAT)

    RC channel 1 trim

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

    800.0 > 2200.0 1500.0 us
    RC2_DZ (FLOAT)

    RC channel 2 dead zone

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

    0.0 > 100.0 10.0 us
    RC2_MAX (FLOAT)

    RC channel 2 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000.0 us
    RC2_MIN (FLOAT)

    RC channel 2 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000.0 us
    RC2_REV (FLOAT)

    RC channel 2 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC2_TRIM (FLOAT)

    RC channel 2 trim

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

    800.0 > 2200.0 1500.0 us
    RC3_DZ (FLOAT)

    RC channel 3 dead zone

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

    0.0 > 100.0 10.0 us
    RC3_MAX (FLOAT)

    RC channel 3 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC3_MIN (FLOAT)

    RC channel 3 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC3_REV (FLOAT)

    RC channel 3 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC3_TRIM (FLOAT)

    RC channel 3 trim

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

    800.0 > 2200.0 1500 us
    RC4_DZ (FLOAT)

    RC channel 4 dead zone

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

    0.0 > 100.0 10.0 us
    RC4_MAX (FLOAT)

    RC channel 4 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC4_MIN (FLOAT)

    RC channel 4 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC4_REV (FLOAT)

    RC channel 4 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC4_TRIM (FLOAT)

    RC channel 4 trim

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

    800.0 > 2200.0 1500 us
    RC5_DZ (FLOAT)

    RC channel 5 dead zone

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

    0.0 > 100.0 10.0
    RC5_MAX (FLOAT)

    RC channel 5 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC5_MIN (FLOAT)

    RC channel 5 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC5_REV (FLOAT)

    RC channel 5 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC5_TRIM (FLOAT)

    RC channel 5 trim

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

    800.0 > 2200.0 1500 us
    RC6_DZ (FLOAT)

    RC channel 6 dead zone

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

    0.0 > 100.0 10.0
    RC6_MAX (FLOAT)

    RC channel 6 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC6_MIN (FLOAT)

    RC channel 6 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC6_REV (FLOAT)

    RC channel 6 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC6_TRIM (FLOAT)

    RC channel 6 trim

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

    800.0 > 2200.0 1500 us
    RC7_DZ (FLOAT)

    RC channel 7 dead zone

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

    0.0 > 100.0 10.0
    RC7_MAX (FLOAT)

    RC channel 7 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC7_MIN (FLOAT)

    RC channel 7 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC7_REV (FLOAT)

    RC channel 7 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC7_TRIM (FLOAT)

    RC channel 7 trim

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

    800.0 > 2200.0 1500 us
    RC8_DZ (FLOAT)

    RC channel 8 dead zone

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

    0.0 > 100.0 10.0
    RC8_MAX (FLOAT)

    RC channel 8 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC8_MIN (FLOAT)

    RC channel 8 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC8_REV (FLOAT)

    RC channel 8 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC8_TRIM (FLOAT)

    RC channel 8 trim

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

    800.0 > 2200.0 1500 us
    RC9_DZ (FLOAT)

    RC channel 9 dead zone

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

    0.0 > 100.0 0.0
    RC9_MAX (FLOAT)

    RC channel 9 maximum

    Comment: Maximum value for this channel.

    1500.0 > 2200.0 2000 us
    RC9_MIN (FLOAT)

    RC channel 9 minimum

    Comment: Minimum value for this channel.

    800.0 > 1500.0 1000 us
    RC9_REV (FLOAT)

    RC channel 9 reverse

    Comment: Set to -1 to reverse channel.

    Values:
    • -1.0: Reverse
    • 1.0: Normal
    -1.0 > 1.0 1.0
    RC9_TRIM (FLOAT)

    RC channel 9 trim

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

    800.0 > 2200.0 1500 us
    RC_CHAN_CNT (INT32)

    RC channel count

    Comment: This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.

    0 > 18 0
    RC_FAILS_THR (INT32)

    Failsafe channel PWM threshold

    Comment: 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.

    0 > 2200 0 us
    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. Set to 0 to disable the filter.

    0 > ? 10.0 Hz
    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.

    1.0 > ? 50.0 Hz
    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
    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
    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
    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
    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
    0 > 18 0
    RC_MAP_AUX6 (INT32)

    AUX6 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
    0 > 18 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
    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
    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
    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
    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
    0 > 18 0
    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
    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
    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
    0 > 18 0
    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
    0 > 18 0
    RC_RSSI_PWM_MAX (INT32)

    Max input value for RSSI reading

    Comment: Only used if RC_RSSI_PWM_CHAN > 0

    0 > 2000 1000
    RC_RSSI_PWM_MIN (INT32)

    Min input value for RSSI reading

    Comment: Only used if RC_RSSI_PWM_CHAN > 0

    0 > 2000 2000
    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.

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

    Roll trim

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

    -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.

    -0.25 > 0.25 (0.01) 0.0

    Radio Switches

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_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_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_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_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_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_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
    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_ARM_SW (INT32)

    Arm switch channel

    Comment: Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.

    Values:
    • 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_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_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_KILL_SW (INT32)

    Emergency 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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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

    Return Mode

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RTL_CONE_ANG (INT32)

    Half-angle of the RTL cone

    Comment: Defines the half-angle of the cone which defines the vehicle RTL behavior.

    Values:
    • 0: No cone, always climb to RTL_RETURN_ALT above home.
    • 25: 25 degrees half cone angle.
    • 45: 45 degrees half cone angle.
    • 65: 65 degrees half cone angle.
    • 80: 80 degrees half cone angle.
    • 90: Only climb to at least RTL_DESCEND_ALT above home.
    0 > 90 0 degrees
    RTL_DESCEND_ALT (FLOAT)

    Return mode 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)

    Return mode delay

    Comment: Delay after descend before landing in Return 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
    RTL_RETURN_ALT (FLOAT)

    RTL altitude

    Comment: Altitude to fly back in RTL in meters

    0 > 150 (0.5) 60 m
    RTL_TYPE (INT32)

    Return type

    Comment: Fly straight to the home location or planned mission landing and land there or use the planned mission to get to those points.

    Values:
    • 0: Return home via direct path
    • 1: Return to a planned mission landing, if available, via direct path, else return to home via direct path
    • 2: Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path
    0

    Roboclaw

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RBCLW_SER_CFG (INT32)

    Serial Configuration for Roboclaw Driver

    Comment: Configure on which serial port to run Roboclaw Driver.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0

    Roboclaw driver

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RBCLW_ADDRESS (INT32)

    Address of the Roboclaw

    Comment: The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match this parameter.

    Values:
    • 128: 0x80
    • 129: 0x81
    • 130: 0x82
    • 131: 0x83
    • 132: 0x84
    • 133: 0x85
    • 134: 0x86
    • 135: 0x87
    128 > 135 128
    RBCLW_BAUD (INT32)

    Roboclaw serial baud rate

    Comment: Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.

    Values:
    • 2400: 2400 baud
    • 9600: 9600 baud
    • 19200: 19200 baud
    • 38400: 38400 baud
    • 57600: 57600 baud
    • 115200: 115200 baud
    • 230400: 230400 baud
    • 460800: 460800 baud

    Reboot required: true

    2400 > 460800 2400
    RBCLW_COUNTS_REV (INT32)

    Encoder counts per revolution

    Comment: Number of encoder counts for one revolution. The roboclaw treats analog encoders (potentiometers) as having 2047 counts per rev. The default value of 1200 corresponds to the default configuration of the Aion R1 rover.

    1 > ? 1200
    RBCLW_READ_PER (INT32)

    Encoder read period

    Comment: How long to wait, in Milliseconds, between reading wheel encoder values over Uart from the Roboclaw

    1 > 1000 10 ms
    RBCLW_WRITE_PER (INT32)

    Uart write period

    Comment: How long to wait, in Milliseconds, between writing actuator controls over Uart to the Roboclaw

    1 > 1000 10 ms

    Rover Position Control

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    GND_L1_DAMPING (FLOAT)

    L1 damping

    Comment: Damping factor for L1 control.

    0.6 > 0.9 (0.05) 0.75
    GND_L1_DIST (FLOAT)

    L1 distance

    Comment: This is the waypoint radius

    0.0 > 100.0 (0.1) 5.0 m
    GND_L1_PERIOD (FLOAT)

    L1 period

    Comment: This is the L1 distance and defines the tracking point ahead of the rover it’s following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation.

    0.0 > 50.0 (0.5) 10.0 m
    GND_MAX_ANG (FLOAT)

    Maximum turn angle for Ackerman steering. At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians

    0.0 > 3.14159 (0.01) 0.7854 rad
    GND_SPEED_D (FLOAT)

    Speed proportional gain

    Comment: This is the derivative gain for the speed closed loop controller

    0.00 > 50.0 (0.005) 0.0 %m/s
    GND_SPEED_I (FLOAT)

    Speed Integral gain

    Comment: This is the integral gain for the speed closed loop controller

    0.00 > 50.0 (0.005) 0.1 %m/s
    GND_SPEED_IMAX (FLOAT)

    Speed integral maximum value

    Comment: This is the maxim value the integral can reach to prevent wind-up.

    0.005 > 50.0 (0.005) 1.0 %m/s
    GND_SPEED_MAX (FLOAT)

    Maximum ground speed

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

    Speed proportional gain

    Comment: This is the proportional gain for the speed closed loop controller

    0.005 > 50.0 (0.005) 2.0 %m/s
    GND_SPEED_THR_SC (FLOAT)

    Speed to throttle scaler

    Comment: This is a gain to map the speed control output to the throttle linearly.

    0.005 > 50.0 (0.005) 1.0 %m/s
    GND_SPEED_TRIM (FLOAT)

    Trim ground speed

    0.0 > 40 (0.5) 3.0 m/s
    GND_SP_CTRL_MODE (INT32)

    Control mode for speed

    Comment: This allows the user to choose between closed loop gps speed or open loop cruise throttle speed

    Values:
    • 0: open loop control
    • 1: close the loop with gps speed
    0 > 1 1
    GND_THR_CRUISE (FLOAT)

    Cruise throttle

    Comment: This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode

    0.0 > 1.0 (0.01) 0.1 norm
    GND_THR_IDLE (FLOAT)

    Idle throttle

    Comment: This is the minimum throttle while on the ground, it should be 0 for a rover

    0.0 > 0.4 (0.01) 0.0 norm
    GND_THR_MAX (FLOAT)

    Throttle limit max

    Comment: This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough

    0.0 > 1.0 (0.01) 0.3 norm
    GND_THR_MIN (FLOAT)

    Throttle limit min

    Comment: This is the minimum throttle % that can be used by the controller. Set to 0 for rover

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

    Distance from front axle to rear axle

    0.0 > ? (0.01) 2.0 m

    Runway Takeoff

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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
    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_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_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_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_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_TKOFF (INT32)

    Runway takeoff with landing gear

    0

    SD Logging

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    SDLOGDIRS_MAX (INT32)

    Maximum number of log directories to keep

    Comment: If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.

    Reboot required: true

    0 > 1000 0
    SDLOG_MISSION (INT32)

    Mission Log

    Comment: If enabled, a small additional “mission” log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).

    Values:
    • 0: Disabled
    • 1: All mission messages
    • 2: Geotagging messages

    Reboot required: true

    0
    SDLOG_MODE (INT32)

    Logging Mode

    Comment: Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.

    Values:
    • -1: disabled
    • 0: when armed until disarm (default)
    • 1: from boot until disarm
    • 2: from boot until shutdown
    • 3: depending on AUX1 RC channel

    Reboot required: true

    0
    SDLOG_PROFILE (INT32)

    Logging topic profile (integer bitmask)

    Comment: This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis and estimator replay, while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data) 7 : Topics for computer vision and collision avoidance

    Bitmask:
    • 0: Default set (general log analysis)
    • 1: Estimator replay (EKF2)
    • 2: Thermal calibration
    • 3: System identification
    • 4: High rate
    • 5: Debug
    • 6: Sensor comparison
    • 7: Computer Vision and Avoidance

    Reboot required: true

    0 > 255 3
    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 (960) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets

    -1000 > 1000 0 min
    SDLOG_UUID (INT32)

    Log UUID

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

    1

    SITL

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    SIM_BAT_DRAIN (FLOAT)

    Simulator Battery drain interval

    1 > 86400 (1) 60 s
    SIM_BAT_MIN_PCT (FLOAT)

    Simulator Battery minimal percentage. Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour

    0 > 100 (0.1) 50.0 %

    Sensor Calibration

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    CAL_ACC0_EN (INT32)

    Accelerometer 0 enabled

    1
    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_XSCALE (FLOAT)

    Accelerometer X-axis scaling factor

    1.0
    CAL_ACC0_YOFF (FLOAT)

    Accelerometer Y-axis offset

    0.0
    CAL_ACC0_YSCALE (FLOAT)

    Accelerometer Y-axis scaling factor

    1.0
    CAL_ACC0_ZOFF (FLOAT)

    Accelerometer Z-axis offset

    0.0
    CAL_ACC0_ZSCALE (FLOAT)

    Accelerometer Z-axis scaling factor

    1.0
    CAL_ACC1_EN (INT32)

    Accelerometer 1 enabled

    1
    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_XSCALE (FLOAT)

    Accelerometer X-axis scaling factor

    1.0
    CAL_ACC1_YOFF (FLOAT)

    Accelerometer Y-axis offset

    0.0
    CAL_ACC1_YSCALE (FLOAT)

    Accelerometer Y-axis scaling factor

    1.0
    CAL_ACC1_ZOFF (FLOAT)

    Accelerometer Z-axis offset

    0.0
    CAL_ACC1_ZSCALE (FLOAT)

    Accelerometer Z-axis scaling factor

    1.0
    CAL_ACC2_EN (INT32)

    Accelerometer 2 enabled

    1
    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_XSCALE (FLOAT)

    Accelerometer X-axis scaling factor

    1.0
    CAL_ACC2_YOFF (FLOAT)

    Accelerometer Y-axis offset

    0.0
    CAL_ACC2_YSCALE (FLOAT)

    Accelerometer Y-axis scaling factor

    1.0
    CAL_ACC2_ZOFF (FLOAT)

    Accelerometer Z-axis offset

    0.0
    CAL_ACC2_ZSCALE (FLOAT)

    Accelerometer Z-axis scaling factor

    1.0
    CAL_ACC_PRIME (INT32)

    Primary accel ID

    0
    CAL_BARO_PRIME (INT32)

    Primary baro ID

    0
    CAL_GYRO0_EN (INT32)

    Gyro 0 enabled

    1
    CAL_GYRO0_ID (INT32)

    ID of the Gyro that the calibration is for

    0
    CAL_GYRO0_XOFF (FLOAT)

    Gyro X-axis offset

    0.0
    CAL_GYRO0_XSCALE (FLOAT)

    Gyro X-axis scaling factor

    1.0
    CAL_GYRO0_YOFF (FLOAT)

    Gyro Y-axis offset

    0.0
    CAL_GYRO0_YSCALE (FLOAT)

    Gyro Y-axis scaling factor

    1.0
    CAL_GYRO0_ZOFF (FLOAT)

    Gyro Z-axis offset

    0.0
    CAL_GYRO0_ZSCALE (FLOAT)

    Gyro Z-axis scaling factor

    1.0
    CAL_GYRO1_EN (INT32)

    Gyro 1 enabled

    1
    CAL_GYRO1_ID (INT32)

    ID of the Gyro that the calibration is for

    0
    CAL_GYRO1_XOFF (FLOAT)

    Gyro X-axis offset

    0.0
    CAL_GYRO1_XSCALE (FLOAT)

    Gyro X-axis scaling factor

    1.0
    CAL_GYRO1_YOFF (FLOAT)

    Gyro Y-axis offset

    0.0
    CAL_GYRO1_YSCALE (FLOAT)

    Gyro Y-axis scaling factor

    1.0
    CAL_GYRO1_ZOFF (FLOAT)

    Gyro Z-axis offset

    0.0
    CAL_GYRO1_ZSCALE (FLOAT)

    Gyro Z-axis scaling factor

    1.0
    CAL_GYRO2_EN (INT32)

    Gyro 2 enabled

    1
    CAL_GYRO2_ID (INT32)

    ID of the Gyro that the calibration is for

    0
    CAL_GYRO2_XOFF (FLOAT)

    Gyro X-axis offset

    0.0
    CAL_GYRO2_XSCALE (FLOAT)

    Gyro X-axis scaling factor

    1.0
    CAL_GYRO2_YOFF (FLOAT)

    Gyro Y-axis offset

    0.0
    CAL_GYRO2_YSCALE (FLOAT)

    Gyro Y-axis scaling factor

    1.0
    CAL_GYRO2_ZOFF (FLOAT)

    Gyro Z-axis offset

    0.0
    CAL_GYRO2_ZSCALE (FLOAT)

    Gyro Z-axis scaling factor

    1.0
    CAL_GYRO_PRIME (INT32)

    Primary gyro ID

    0
    CAL_MAG0_EN (INT32)

    Mag 0 enabled

    1
    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°

    Reboot required: true

    -1 > 30 -1
    CAL_MAG0_XOFF (FLOAT)

    Magnetometer X-axis offset

    0.0
    CAL_MAG0_XSCALE (FLOAT)

    Magnetometer X-axis scaling factor

    1.0
    CAL_MAG0_YOFF (FLOAT)

    Magnetometer Y-axis offset

    0.0
    CAL_MAG0_YSCALE (FLOAT)

    Magnetometer Y-axis scaling factor

    1.0
    CAL_MAG0_ZOFF (FLOAT)

    Magnetometer Z-axis offset

    0.0
    CAL_MAG0_ZSCALE (FLOAT)

    Magnetometer Z-axis scaling factor

    1.0
    CAL_MAG1_EN (INT32)

    Mag 1 enabled

    1
    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°

    Reboot required: true

    -1 > 30 -1
    CAL_MAG1_XOFF (FLOAT)

    Magnetometer X-axis offset

    0.0
    CAL_MAG1_XSCALE (FLOAT)

    Magnetometer X-axis scaling factor

    1.0
    CAL_MAG1_YOFF (FLOAT)

    Magnetometer Y-axis offset

    0.0
    CAL_MAG1_YSCALE (FLOAT)

    Magnetometer Y-axis scaling factor

    1.0
    CAL_MAG1_ZOFF (FLOAT)

    Magnetometer Z-axis offset

    0.0
    CAL_MAG1_ZSCALE (FLOAT)

    Magnetometer Z-axis scaling factor

    1.0
    CAL_MAG2_EN (INT32)

    Mag 2 enabled

    1
    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°

    Reboot required: true

    -1 > 30 -1
    CAL_MAG2_XOFF (FLOAT)

    Magnetometer X-axis offset

    0.0
    CAL_MAG2_XSCALE (FLOAT)

    Magnetometer X-axis scaling factor

    1.0
    CAL_MAG2_YOFF (FLOAT)

    Magnetometer Y-axis offset

    0.0
    CAL_MAG2_YSCALE (FLOAT)

    Magnetometer Y-axis scaling factor

    1.0
    CAL_MAG2_ZOFF (FLOAT)

    Magnetometer Z-axis offset

    0.0
    CAL_MAG2_ZSCALE (FLOAT)

    Magnetometer Z-axis scaling factor

    1.0
    CAL_MAG3_EN (INT32)

    Mag 3 enabled

    1
    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°

    Reboot required: true

    -1 > 30 -1
    CAL_MAG3_XOFF (FLOAT)

    Magnetometer X-axis offset

    0.0
    CAL_MAG3_XSCALE (FLOAT)

    Magnetometer X-axis scaling factor

    1.0
    CAL_MAG3_YOFF (FLOAT)

    Magnetometer Y-axis offset

    0.0
    CAL_MAG3_YSCALE (FLOAT)

    Magnetometer Y-axis scaling factor

    1.0
    CAL_MAG3_ZOFF (FLOAT)

    Magnetometer Z-axis offset

    0.0
    CAL_MAG3_ZSCALE (FLOAT)

    Magnetometer Z-axis scaling factor

    1.0
    CAL_MAG_PRIME (INT32)

    Primary mag ID

    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_DPRES_OFF (FLOAT)

    Differential pressure sensor offset

    Comment: The offset (zero-reading) in Pascal

    0.0
    SENS_FLOW_MAXHGT (FLOAT)

    Maximum height above ground when reliant on optical flow

    Comment: This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.

    1.0 > 25.0 (0.1) 3.0 m
    SENS_FLOW_MAXR (FLOAT)

    Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor. Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value

    1.0 > ? 2.5 rad/s
    SENS_FLOW_MINHGT (FLOAT)

    Minimum height above ground when reliant on optical flow

    Comment: This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.

    0.0 > 1.0 (0.1) 0.7 m

    Sensors

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    CAL_AIR_CMODEL (INT32)

    Airspeed sensor compensation model for the SDP3x

    Comment: Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.

    Values:
    • 0: Model with Pitot
    • 1: Model without Pitot (1.5 mm tubes)
    • 2: Tube Pressure Drop
    0
    CAL_AIR_TUBED_MM (FLOAT)

    Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation

    0.1 > 100 1.5 millimeter
    CAL_AIR_TUBELEN (FLOAT)

    Airspeed sensor tube length

    Comment: See the CAL_AIR_CMODEL explanation on how this parameter should be set.

    0.01 > 2.00 0.2 meter
    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
    IMU_ACCEL_CUTOFF (FLOAT)

    Driver level cutoff frequency for accel

    Comment: The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.

    Reboot required: true

    0 > 1000 30.0 Hz
    IMU_GYRO_CUTOFF (FLOAT)

    Driver level cutoff frequency for gyro

    Comment: The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.

    Reboot required: true

    0 > 1000 30.0 Hz
    INA226_CONFIG (INT32)

    INA226 Power Monitor Config

    0 > 65535 (1) 18139 u
    INA226_CURRENT (FLOAT)

    INA226 Power Monitor Max Current

    0.1 > 200.0 (0.1) 164.0
    INA226_SHUNT (FLOAT)

    INA226 Power Monitor Shunt

    0.000000001 > 0.1 (.000000001) 0.0005
    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°
    • 26: Roll 270°, Yaw 270°
    • 27: Roll 180°, Pitch 270°
    • 28: Pitch 90°, Yaw 180
    • 29: Pitch 90°, Roll 90°
    • 30: Yaw 293°, Pitch 68°, Roll 90° (Solo)
    • 31: Pitch 90°, Roll 270°
    • 32: Pitch 9°, Yaw 180°
    • 33: Pitch 45°
    • 34: Pitch 315°

    Reboot required: true

    0
    SENS_BOARD_X_OFF (FLOAT)

    Board rotation X (Roll) offset

    Comment: This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.

    0.0 deg
    SENS_BOARD_Y_OFF (FLOAT)

    Board rotation Y (Pitch) offset

    Comment: This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.

    0.0 deg
    SENS_BOARD_Z_OFF (FLOAT)

    Board rotation Z (YAW) offset

    Comment: This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.

    0.0 deg
    SENS_CM8JL65_CFG (INT32)

    Serial Configuration for Lanbao PSK-CM8JL65-CC5

    Comment: Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    SENS_CM8JL65_R_0 (INT32)

    Distance Sensor Rotation

    Comment: Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum

    Values:
    • 0: ROTATION_FORWARD_FACING
    • 2: ROTATION_RIGHT_FACING
    • 6: ROTATION_LEFT_FACING
    • 12: ROTATION_BACKWARD_FACING
    • 24: ROTATION_UPWARD_FACING
    • 25: ROTATION_DOWNWARD_FACING

    Reboot required: True

    25
    SENS_EN_BATT (INT32)

    SMBUS Smart battery driver (BQ40Z50)

    Reboot required: true

    0
    SENS_EN_LL40LS (INT32)

    Lidar-Lite (LL40LS)

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

    Reboot required: true

    0 > 2 0
    SENS_EN_MB12XX (INT32)

    Maxbotix Sonar (mb12xx)

    Reboot required: true

    0
    SENS_EN_MPDT (INT32)

    Enable Mappydot rangefinder (i2c)

    Values:
    • 0: Disabled
    • 1: Autodetect

    Reboot required: true

    0 > 1 0
    SENS_EN_PGA460 (INT32)

    PGA460 Ultrasonic driver (PGA460)

    Reboot required: true

    0
    SENS_EN_PX4FLOW (INT32)

    PX4 Flow Optical Flow

    Reboot required: true

    0
    SENS_EN_SF0X (INT32)

    Lightware Laser Rangefinder hardware model

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

    Reboot required: true

    1
    SENS_EN_SF1XX (INT32)

    Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)

    Values:
    • 0: Disabled
    • 1: SF10/a
    • 2: SF10/b
    • 3: SF10/c
    • 4: SF11/c
    • 5: SF/LW20

    Reboot required: true

    0 > 5 0
    SENS_EN_THERMAL (INT32)

    Thermal control of sensor temperature

    Values:
    • -1: Thermal control unavailable
    • 0: Thermal control off
    -1
    SENS_EN_TRANGER (INT32)

    TeraRanger Rangefinder (i2c)

    Values:
    • 0: Disabled
    • 1: Autodetect
    • 2: TROne
    • 3: TREvo60m
    • 4: TREvo600Hz

    Reboot required: true

    0 > 3 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_IMU_TEMP (FLOAT)

    Target IMU temperature

    0 > 85.0 55.0 C
    SENS_IMU_TEMP_I (FLOAT)

    IMU heater controller integrator gain value

    0 > 1.0 0.025 microseconds/C
    SENS_IMU_TEMP_P (FLOAT)

    IMU heater controller proportional gain value

    0 > 2.0 1.0 microseconds/C
    SENS_LEDDAR1_CFG (INT32)

    Serial Configuration for LeddarOne Rangefinder

    Comment: Configure on which serial port to run LeddarOne Rangefinder.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    SENS_MB12_0_ROT (INT32)

    MaxBotix MB12XX Sensor 0 Rotation

    Comment: This parameter defines the rotation of the sensor 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°

    Reboot required: true

    0 > 7 0
    SENS_MB12_10_ROT (INT32)

    MaxBotix MB12XX Sensor 10 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_11_ROT (INT32)

    MaxBotix MB12XX Sensor 12 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_1_ROT (INT32)

    MaxBotix MB12XX Sensor 1 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_2_ROT (INT32)

    MaxBotix MB12XX Sensor 2 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_3_ROT (INT32)

    MaxBotix MB12XX Sensor 3 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_4_ROT (INT32)

    MaxBotix MB12XX Sensor 4 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_5_ROT (INT32)

    MaxBotix MB12XX Sensor 5 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_6_ROT (INT32)

    MaxBotix MB12XX Sensor 6 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_7_ROT (INT32)

    MaxBotix MB12XX Sensor 7 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_8_ROT (INT32)

    MaxBotix MB12XX Sensor 8 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MB12_9_ROT (INT32)

    MaxBotix MB12XX Sensor 9 Rotation

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

    Values:
    • 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

    0 > 7 0
    SENS_MPDT0_ROT (INT32)

    MappyDot Sensor 0 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT10_ROT (INT32)

    MappyDot Sensor 10 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT11_ROT (INT32)

    MappyDot Sensor 12 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT1_ROT (INT32)

    MappyDot Sensor 1 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT2_ROT (INT32)

    MappyDot Sensor 2 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT3_ROT (INT32)

    MappyDot Sensor 3 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT4_ROT (INT32)

    MappyDot Sensor 4 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT5_ROT (INT32)

    MappyDot Sensor 5 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT6_ROT (INT32)

    MappyDot Sensor 6 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT7_ROT (INT32)

    MappyDot Sensor 7 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT8_ROT (INT32)

    MappyDot Sensor 8 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_MPDT9_ROT (INT32)

    MappyDot Sensor 9 Rotation

    Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

    Values:
    • 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

    0 > 7 0
    SENS_SF0X_CFG (INT32)

    Serial Configuration for Lightware Laser Rangefinder

    Comment: Configure on which serial port to run Lightware Laser Rangefinder.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    SENS_TEMP_ID (INT32)

    Target IMU device ID to regulate temperature

    1442826
    SENS_TFMINI_CFG (INT32)

    Serial Configuration for Benewake TFmini Rangefinder

    Comment: Configure on which serial port to run Benewake TFmini Rangefinder.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    SENS_ULAND_CFG (INT32)

    Serial Configuration for uLanding Radar

    Comment: Configure on which serial port to run uLanding Radar.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0

    Serial

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    RC_PORT_CONFIG (INT32)

    Serial Configuration for RC Input Driver

    Comment: Configure on which serial port to run RC Input Driver. Setting this to ‘Disabled’ will use a board-specific default port for RC input.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    300
    SER_GPS1_BAUD (INT32)

    Baudrate for the GPS 1 Serial Port

    Comment: Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    0
    SER_GPS2_BAUD (INT32)

    Baudrate for the GPS 2 Serial Port

    Comment: Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    0
    SER_RC_BAUD (INT32)

    Baudrate for the Radio Controller Serial Port

    Comment: Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    0
    SER_TEL1_BAUD (INT32)

    Baudrate for the TELEM 1 Serial Port

    Comment: Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    57600
    SER_TEL2_BAUD (INT32)

    Baudrate for the TELEM 2 Serial Port

    Comment: Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    921600
    SER_TEL3_BAUD (INT32)

    Baudrate for the TELEM 3 Serial Port

    Comment: Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    57600
    SER_TEL4_BAUD (INT32)

    Baudrate for the TELEM/SERIAL 4 Serial Port

    Comment: Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    57600
    SER_URT6_BAUD (INT32)

    Baudrate for the UART 6 Serial Port

    Comment: Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

    Values:
    • 0: Auto
    • 50: 50 8N1
    • 75: 75 8N1
    • 110: 110 8N1
    • 134: 134 8N1
    • 150: 150 8N1
    • 200: 200 8N1
    • 300: 300 8N1
    • 600: 600 8N1
    • 1200: 1200 8N1
    • 1800: 1800 8N1
    • 2400: 2400 8N1
    • 4800: 4800 8N1
    • 9600: 9600 8N1
    • 19200: 19200 8N1
    • 38400: 38400 8N1
    • 57600: 57600 8N1
    • 115200: 115200 8N1
    • 230400: 230400 8N1
    • 460800: 460800 8N1
    • 500000: 500000 8N1
    • 921600: 921600 8N1
    • 1000000: 1000000 8N1
    • 1500000: 1500000 8N1
    • 2000000: 2000000 8N1
    • 3000000: 3000000 8N1

    Reboot required: true

    57600

    Simulation In Hardware

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    SIH_IXX (FLOAT)

    Vehicle inertia about X axis

    Comment: The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

    0.0 > ? (0.005) 0.025 kgmm
    SIH_IXY (FLOAT)

    Vehicle cross term inertia xy

    Comment: The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

    (0.005) 0.0 kgmm
    SIH_IXZ (FLOAT)

    Vehicle cross term inertia xz

    Comment: The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

    (0.005) 0.0 kgmm
    SIH_IYY (FLOAT)

    Vehicle inertia about Y axis

    Comment: The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

    0.0 > ? (0.005) 0.025 kgmm
    SIH_IYZ (FLOAT)

    Vehicle cross term inertia yz

    Comment: The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

    (0.005) 0.0 kgmm
    SIH_IZZ (FLOAT)

    Vehicle inertia about Z axis

    Comment: The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

    0.0 > ? (0.005) 0.030 kgmm
    SIH_KDV (FLOAT)

    First order drag coefficient

    Comment: Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDVV. The maximum freefall velocity can be computed as V=10MASS/KDV [m/s]

    0.0 > ? (0.05) 1.0 N/(m/s)
    SIH_KDW (FLOAT)

    First order angular damper coefficient

    Comment: Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.

    0.0 > ? (0.005) 0.025 Nm/(rad/s)
    SIH_LOC_H0 (FLOAT)

    Initial AMSL ground altitude

    Comment: This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

    -420.0 > 8848.0 (0.01) 32.34 m
    SIH_LOC_LAT0 (INT32)

    Initial geodetic latitude

    Comment: This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

    -850000000 > 850000000 454671160 1e-7 deg
    SIH_LOC_LON0 (INT32)

    Initial geodetic longitude

    Comment: This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

    -1800000000 > 1800000000 -737578370 1e-7 deg
    SIH_LOC_MU_X (FLOAT)

    North magnetic field at the initial location

    Comment: This value represents the North magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

    -1.0 > 1.0 (0.001) 0.179 Gauss
    SIH_LOC_MU_Y (FLOAT)

    East magnetic field at the initial location

    Comment: This value represents the East magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

    -1.0 > 1.0 (0.001) -0.045 Gauss
    SIH_LOC_MU_Z (FLOAT)

    Down magnetic field at the initial location

    Comment: This value represents the Down magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

    -1.0 > 1.0 (0.001) 0.504 Gauss
    SIH_L_PITCH (FLOAT)

    Pitch arm length

    Comment: This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.

    0.0 > ? (0.05) 0.2 m
    SIH_L_ROLL (FLOAT)

    Roll arm length

    Comment: This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.

    0.0 > ? (0.05) 0.2 m
    SIH_MASS (FLOAT)

    Vehicle mass

    Comment: This value can be measured by weighting the quad on a scale.

    0.0 > ? (0.1) 1.0 kg
    SIH_Q_MAX (FLOAT)

    Max propeller torque

    Comment: This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.

    0.0 > ? (0.05) 0.1 Nm
    SIH_T_MAX (FLOAT)

    Max propeller thrust force

    Comment: This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.

    0.0 > ? (0.5) 5.0 N

    Snapdragon UART ESC

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    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_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_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

    System

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    LED_RGB1_MAXBRT (INT32)

    RGB Led brightness limit

    Comment: Set to 0 to disable, 1 for minimum brightness up to 31 (max)

    0 > 31 31
    LED_RGB_MAXBRT (INT32)

    RGB Led brightness limit

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

    0 > 15 15
    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
    • 2: Reload airframe parameters
    0
    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

    0 > 9999999 0
    SYS_BL_UPDATE (INT32)

    Bootloader update

    Comment: If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card

    Reboot required: true

    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)

    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)

    0 > 1 0
    SYS_CAL_GYRO (INT32)

    Enable auto start of rate gyro thermal calibration at the next power up

    Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration)

    0 > 1 0
    SYS_CAL_TDEL (INT32)

    Required temperature rise during thermal calibration

    Comment: A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting 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.

    10 > ? 24 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.

    10 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.

    5 deg C
    SYS_FMU_TASK (INT32)

    Run the FMU as a task to reduce latency

    Comment: If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate.

    Reboot required: true

    1
    SYS_HAS_BARO (INT32)

    Control if the vehicle has a barometer

    Comment: Disable this if the board has no barometer, such as some of the the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.

    Reboot required: true

    1
    SYS_HAS_MAG (INT32)

    Control if the vehicle has a magnetometer

    Comment: Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.

    Reboot required: true

    1
    SYS_HITL (INT32)

    Enable HITL/SIH mode on next boot

    Comment: While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally.

    Values:
    • 0: HITL and SIH disabled
    • 1: HITL enabled
    • 2: SIH enabled

    Reboot required: true

    0
    SYS_MC_EST_GROUP (INT32)

    Set multicopter estimator group

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

    Values:
    • 1: local_position_estimator, attitude_estimator_q (unsupported)
    • 2: ekf2 (recommended)
    • 3: Q attitude estimator (no position)

    Reboot required: true

    2
    SYS_PARAM_VER (INT32)

    Parameter version

    Comment: This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters from the airframe configuration are reloaded.

    0 > ? 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
    0 > 2 2
    SYS_STCK_EN (INT32)

    Enable stack checking

    1
    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.

    Reboot required: true

    0 > 1 1

    Telemetry

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    TEL_BST_EN (INT32)

    Blacksheep telemetry Enable

    Comment: If true, the FMU will try to connect to Blacksheep telemetry on start up

    Reboot required: true

    0
    TEL_FRSKY_CONFIG (INT32)

    Serial Configuration for FrSky Telemetry

    Comment: Configure on which serial port to run FrSky Telemetry.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0
    TEL_HOTT_CONFIG (INT32)

    Serial Configuration for HoTT Telemetry

    Comment: Configure on which serial port to run HoTT Telemetry.

    Values:
    • 0: Disabled
    • 6: UART 6
    • 101: TELEM 1
    • 102: TELEM 2
    • 103: TELEM 3
    • 104: TELEM/SERIAL 4
    • 201: GPS 1
    • 202: GPS 2
    • 300: Radio Controller

    Reboot required: true

    0

    Testing

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    TEST_1 (INT32)

    2
    TEST_2 (INT32)

    4
    TEST_3 (FLOAT)

    5.0
    TEST_D (FLOAT)

    0.01
    TEST_DEV (FLOAT)

    2.0
    TEST_D_LP (FLOAT)

    10.0
    TEST_HP (FLOAT)

    10.0
    TEST_I (FLOAT)

    0.1
    TEST_I_MAX (FLOAT)

    1.0
    TEST_LP (FLOAT)

    10.0
    TEST_MAX (FLOAT)

    1.0
    TEST_MEAN (FLOAT)

    1.0
    TEST_MIN (FLOAT)

    -1.0
    TEST_P (FLOAT)

    0.2
    TEST_PARAMS (INT32)

    12345678
    TEST_RC2_X (INT32)

    16
    TEST_RC_X (INT32)

    8
    TEST_TRIM (FLOAT)

    0.5

    Thermal Compensation

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    TC_A0_ID (INT32)

    ID of Accelerometer that the calibration is for

    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_TMAX (FLOAT)

    Accelerometer calibration maximum temperature

    100.0
    TC_A0_TMIN (FLOAT)

    Accelerometer calibration minimum temperature

    0.0
    TC_A0_TREF (FLOAT)

    Accelerometer calibration reference temperature

    25.0
    TC_A0_X0_0 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - X axis

    0.0
    TC_A0_X0_1 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - Y axis

    0.0
    TC_A0_X0_2 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - Z axis

    0.0
    TC_A0_X1_0 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - X axis

    0.0
    TC_A0_X1_1 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - Y axis

    0.0
    TC_A0_X1_2 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - Z axis

    0.0
    TC_A0_X2_0 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - X axis

    0.0
    TC_A0_X2_1 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - Y axis

    0.0
    TC_A0_X2_2 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - Z axis

    0.0
    TC_A0_X3_0 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - X axis

    0.0
    TC_A0_X3_1 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - Y axis

    0.0
    TC_A0_X3_2 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - Z axis

    0.0
    TC_A1_ID (INT32)

    ID of Accelerometer that the calibration is for

    0
    TC_A1_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_TMAX (FLOAT)

    Accelerometer calibration maximum temperature

    100.0
    TC_A1_TMIN (FLOAT)

    Accelerometer calibration minimum temperature

    0.0
    TC_A1_TREF (FLOAT)

    Accelerometer calibration reference temperature

    25.0
    TC_A1_X0_0 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - X axis

    0.0
    TC_A1_X0_1 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - Y axis

    0.0
    TC_A1_X0_2 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - Z axis

    0.0
    TC_A1_X1_0 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - X axis

    0.0
    TC_A1_X1_1 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - Y axis

    0.0
    TC_A1_X1_2 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - Z axis

    0.0
    TC_A1_X2_0 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - X axis

    0.0
    TC_A1_X2_1 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - Y axis

    0.0
    TC_A1_X2_2 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - Z axis

    0.0
    TC_A1_X3_0 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - X axis

    0.0
    TC_A1_X3_1 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - Y axis

    0.0
    TC_A1_X3_2 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - Z axis

    0.0
    TC_A2_ID (INT32)

    ID of Accelerometer that the calibration is for

    0
    TC_A2_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_TMAX (FLOAT)

    Accelerometer calibration maximum temperature

    100.0
    TC_A2_TMIN (FLOAT)

    Accelerometer calibration minimum temperature

    0.0
    TC_A2_TREF (FLOAT)

    Accelerometer calibration reference temperature

    25.0
    TC_A2_X0_0 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - X axis

    0.0
    TC_A2_X0_1 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - Y axis

    0.0
    TC_A2_X0_2 (FLOAT)

    Accelerometer offset temperature ^0 polynomial coefficient - Z axis

    0.0
    TC_A2_X1_0 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - X axis

    0.0
    TC_A2_X1_1 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - Y axis

    0.0
    TC_A2_X1_2 (FLOAT)

    Accelerometer offset temperature ^1 polynomial coefficient - Z axis

    0.0
    TC_A2_X2_0 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - X axis

    0.0
    TC_A2_X2_1 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - Y axis

    0.0
    TC_A2_X2_2 (FLOAT)

    Accelerometer offset temperature ^2 polynomial coefficient - Z axis

    0.0
    TC_A2_X3_0 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - X axis

    0.0
    TC_A2_X3_1 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - Y axis

    0.0
    TC_A2_X3_2 (FLOAT)

    Accelerometer offset temperature ^3 polynomial coefficient - Z axis

    0.0
    TC_A_ENABLE (INT32)

    Thermal compensation for accelerometer sensors

    0 > 1 0
    TC_B0_ID (INT32)

    ID of Barometer that the calibration is for

    0
    TC_B0_SCL (FLOAT)

    Barometer scale factor - X axis

    1.0
    TC_B0_TMAX (FLOAT)

    Barometer calibration maximum temperature

    75.0
    TC_B0_TMIN (FLOAT)

    Barometer calibration minimum temperature

    5.0
    TC_B0_TREF (FLOAT)

    Barometer calibration reference temperature

    40.0
    TC_B0_X0 (FLOAT)

    Barometer offset temperature ^0 polynomial coefficient

    0.0
    TC_B0_X1 (FLOAT)

    Barometer offset temperature ^1 polynomial coefficients

    0.0
    TC_B0_X2 (FLOAT)

    Barometer offset temperature ^2 polynomial coefficient

    0.0
    TC_B0_X3 (FLOAT)

    Barometer offset temperature ^3 polynomial coefficient

    0.0
    TC_B0_X4 (FLOAT)

    Barometer offset temperature ^4 polynomial coefficient

    0.0
    TC_B0_X5 (FLOAT)

    Barometer offset temperature ^5 polynomial coefficient

    0.0
    TC_B1_ID (INT32)

    ID of Barometer that the calibration is for

    0
    TC_B1_SCL (FLOAT)

    Barometer scale factor - X axis

    1.0
    TC_B1_TMAX (FLOAT)

    Barometer calibration maximum temperature

    75.0
    TC_B1_TMIN (FLOAT)

    Barometer calibration minimum temperature

    5.0
    TC_B1_TREF (FLOAT)

    Barometer calibration reference temperature

    40.0
    TC_B1_X0 (FLOAT)

    Barometer offset temperature ^0 polynomial coefficient

    0.0
    TC_B1_X1 (FLOAT)

    Barometer offset temperature ^1 polynomial coefficients

    0.0
    TC_B1_X2 (FLOAT)

    Barometer offset temperature ^2 polynomial coefficient

    0.0
    TC_B1_X3 (FLOAT)

    Barometer offset temperature ^3 polynomial coefficient

    0.0
    TC_B1_X4 (FLOAT)

    Barometer offset temperature ^4 polynomial coefficient

    0.0
    TC_B1_X5 (FLOAT)

    Barometer offset temperature ^5 polynomial coefficient

    0.0
    TC_B2_ID (INT32)

    ID of Barometer that the calibration is for

    0
    TC_B2_SCL (FLOAT)

    Barometer scale factor - X axis

    1.0
    TC_B2_TMAX (FLOAT)

    Barometer calibration maximum temperature

    75.0
    TC_B2_TMIN (FLOAT)

    Barometer calibration minimum temperature

    5.0
    TC_B2_TREF (FLOAT)

    Barometer calibration reference temperature

    40.0
    TC_B2_X0 (FLOAT)

    Barometer offset temperature ^0 polynomial coefficient

    0.0
    TC_B2_X1 (FLOAT)

    Barometer offset temperature ^1 polynomial coefficients

    0.0
    TC_B2_X2 (FLOAT)

    Barometer offset temperature ^2 polynomial coefficient

    0.0
    TC_B2_X3 (FLOAT)

    Barometer offset temperature ^3 polynomial coefficient

    0.0
    TC_B2_X4 (FLOAT)

    Barometer offset temperature ^4 polynomial coefficient

    0.0
    TC_B2_X5 (FLOAT)

    Barometer offset temperature ^5 polynomial coefficient

    0.0
    TC_B_ENABLE (INT32)

    Thermal compensation for barometric pressure sensors

    0 > 1 0
    TC_G0_ID (INT32)

    ID of Gyro that the calibration is for

    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_TMAX (FLOAT)

    Gyro calibration maximum temperature

    100.0
    TC_G0_TMIN (FLOAT)

    Gyro calibration minimum temperature

    0.0
    TC_G0_TREF (FLOAT)

    Gyro calibration reference temperature

    25.0
    TC_G0_X0_0 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - X axis

    0.0
    TC_G0_X0_1 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - Y axis

    0.0
    TC_G0_X0_2 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - Z axis

    0.0
    TC_G0_X1_0 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - X axis

    0.0
    TC_G0_X1_1 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - Y axis

    0.0
    TC_G0_X1_2 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - Z axis

    0.0
    TC_G0_X2_0 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - X axis

    0.0
    TC_G0_X2_1 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - Y axis

    0.0
    TC_G0_X2_2 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - Z axis

    0.0
    TC_G0_X3_0 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - X axis

    0.0
    TC_G0_X3_1 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - Y axis

    0.0
    TC_G0_X3_2 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - Z axis

    0.0
    TC_G1_ID (INT32)

    ID of Gyro that the calibration is for

    0
    TC_G1_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_TMAX (FLOAT)

    Gyro calibration maximum temperature

    100.0
    TC_G1_TMIN (FLOAT)

    Gyro calibration minimum temperature

    0.0
    TC_G1_TREF (FLOAT)

    Gyro calibration reference temperature

    25.0
    TC_G1_X0_0 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - X axis

    0.0
    TC_G1_X0_1 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - Y axis

    0.0
    TC_G1_X0_2 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - Z axis

    0.0
    TC_G1_X1_0 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - X axis

    0.0
    TC_G1_X1_1 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - Y axis

    0.0
    TC_G1_X1_2 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - Z axis

    0.0
    TC_G1_X2_0 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - X axis

    0.0
    TC_G1_X2_1 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - Y axis

    0.0
    TC_G1_X2_2 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - Z axis

    0.0
    TC_G1_X3_0 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - X axis

    0.0
    TC_G1_X3_1 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - Y axis

    0.0
    TC_G1_X3_2 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - Z axis

    0.0
    TC_G2_ID (INT32)

    ID of Gyro that the calibration is for

    0
    TC_G2_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_TMAX (FLOAT)

    Gyro calibration maximum temperature

    100.0
    TC_G2_TMIN (FLOAT)

    Gyro calibration minimum temperature

    0.0
    TC_G2_TREF (FLOAT)

    Gyro calibration reference temperature

    25.0
    TC_G2_X0_0 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - X axis

    0.0
    TC_G2_X0_1 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - Y axis

    0.0
    TC_G2_X0_2 (FLOAT)

    Gyro rate offset temperature ^0 polynomial coefficient - Z axis

    0.0
    TC_G2_X1_0 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - X axis

    0.0
    TC_G2_X1_1 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - Y axis

    0.0
    TC_G2_X1_2 (FLOAT)

    Gyro rate offset temperature ^1 polynomial coefficient - Z axis

    0.0
    TC_G2_X2_0 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - X axis

    0.0
    TC_G2_X2_1 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - Y axis

    0.0
    TC_G2_X2_2 (FLOAT)

    Gyro rate offset temperature ^2 polynomial coefficient - Z axis

    0.0
    TC_G2_X3_0 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - X axis

    0.0
    TC_G2_X3_1 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - Y axis

    0.0
    TC_G2_X3_2 (FLOAT)

    Gyro rate offset temperature ^3 polynomial coefficient - Z axis

    0.0
    TC_G_ENABLE (INT32)

    Thermal compensation for rate gyro sensors

    0 > 1 0

    UAVCAN

    参数名 参数描述 最小最大值 (增量) 默认值 单位
    CANNODE_BITRATE (INT32)

    UAVCAN CAN bus bitrate

    20000 > 1000000 1000000
    CANNODE_NODE_ID (INT32)

    UAVCAN Node ID

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

    1 > 125 120
    ESC_BITRATE (INT32)

    UAVCAN CAN bus bitrate

    20000 > 1000000 1000000
    ESC_NODE_ID (INT32)

    UAVCAN Node ID

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

    1 > 125 120
    UAVCAN_BITRATE (INT32)

    UAVCAN CAN bus bitrate

    Reboot required: true

    20000 > 1000000 1000000 bit/s
    UAVCAN_ENABLE (INT32)

    UAVCAN mode

    Comment: 0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.

    Values:
    • 0: Disabled
    • 1: Sensors Manual Config
    • 2: Sensors Automatic Config
    • 3: Sensors and Actuators (ESCs) Automatic Config

    Reboot required: true

    0 > 3 0
    UAVCAN_ESC_IDLT (INT32)

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

    Reboot required: true

    1
    UAVCAN_NODE_ID (INT32)

    UAVCAN Node ID

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

    Reboot required: true

    1 > 125 1

    VTOL Attitude Control

    Name Description Min > Max (Incr.) Default Units
    VT_ARSP_BLEND (FLOAT)

    Transition blending airspeed

    Comment: Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.

    0.00 > 30.00 (1) 8.0 m/s
    VT_ARSP_TRANS (FLOAT)

    Transition airspeed

    Comment: Airspeed at which we can switch to fw mode

    0.00 > 30.00 (1) 10.0 m/s
    VT_B_DEC_MSS (FLOAT)

    Approximate deceleration during back transition

    Comment: The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.

    0.00 > 20.00 (1) 2.0 m/s/s
    VT_B_REV_DEL (FLOAT)

    Delay in seconds before applying back transition throttle Set this to a value greater than 0 to give the motor time to spin down

    Comment: unit s

    0 > 10 (1) 0.0
    VT_B_REV_OUT (FLOAT)

    Output on airbrakes channel during back transition Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel Airbrakes need to be enables for your selected model/mixer

    0 > 1 (0.01) 0.0
    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_B_TRANS_RAMP (FLOAT)

    Back transition MC motor ramp up time

    Comment: This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.

    0.0 > 20.0 3.0 s
    VT_B_TRANS_THR (FLOAT)

    Target throttle value for the transition to hover flight. standard vtol: pusher tailsitter, tiltrotor: main throttle

    Comment: Note for standard vtol: For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking

    -1 > 1 (0.01) 0.0
    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_ELEV_MC_LOCK (INT32)

    Lock elevons in multicopter mode

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

    1
    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_FW_ALT_ERR (FLOAT)

    Adaptive QuadChute

    Comment: Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL.

    0.0 > 200.0 0.0
    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
    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_MOT_OFFID (INT32)

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

    0 > 12345678 (1) 0
    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_QC_P (INT32)

    QuadChute Max Pitch

    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_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_F_TRANS_THR (FLOAT)

    Target throttle value for the transition to fixed wing flight. standard vtol: pusher tailsitter, tiltrotor: main throttle

    0.0 > 1.0 (0.01) 1.0
    VT_F_TR_OL_TM (FLOAT)

    Airspeed less front transition time (open loop)

    Comment: The duration of the front transition when there is no airspeed feedback available.

    1.0 > 30.0 6.0 seconds
    VT_IDLE_PWM_MC (INT32)

    Idle speed of VTOL when in multicopter mode

    900 > 2000 (1) 900 us
    VT_MOT_ID (INT32)

    The channel number of motors which provide lift during hover

    0 > 12345678 (1) 0
    VT_PSHER_RMP_DT (FLOAT)

    Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR

    ? > 20 (0.01) 3.0
    VT_TILT_FW (FLOAT)

    Position of tilt servo in fw mode

    0.0 > 1.0 (0.01) 1.0
    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_TRANS_MIN_TM (FLOAT)

    Front transition minimum time

    Comment: Minimum time in seconds for front transition.

    0.0 > 20.0 2.0 s
    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_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_TYPE (INT32)

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

    Values:
    • 0: Tailsitter
    • 1: Tiltrotor
    • 2: Standard

    Reboot required: true

    0 > 2 0
    WV_GAIN (FLOAT)

    Weather-vane roll angle to yawrate

    Comment: The desired gain to convert roll sp into yaw rate sp.

    0.0 > 3.0 (0.01) 1.0 1/s

    Miscellaneous

    Name Description Min > Max (Incr.) Default Units
    EXFW_HDNG_P (FLOAT)

    0.1
    EXFW_PITCH_P (FLOAT)

    0.2
    EXFW_ROLL_P (FLOAT)

    0.2
    MPC_LAND_RC_HELP (INT32)

    Enable user assisted descent speed for autonomous land routine. When enabled, descent speed will be equal to MPC_LAND_SPEED at half throttle, MPC_Z_VEL_MAX_DN at zero throttle, and 0.5 * MPC_LAND_SPEED at full throttle

    Values:
    • 0: Fixed descent speed of MPC_LAND_SPEED
    • 1: User assisted descent speed
    0 > 1 0
    RV_YAW_P (FLOAT)

    0.1
    SEG_Q2V (FLOAT)

    1.0
    SEG_TH2V_I (FLOAT)

    0.0
    SEG_TH2V_I_MAX (FLOAT)

    0.0
    SEG_TH2V_P (FLOAT)

    10.0