-
Notifications
You must be signed in to change notification settings - Fork 6
/
Copy pathPX4ParameterFactMetaData.xml
6735 lines (6735 loc) · 297 KB
/
PX4ParameterFactMetaData.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<?xml version='1.0' encoding='UTF-8'?>
<parameters>
<version>3</version>
<parameter_version_major>1</parameter_version_major>
<parameter_version_minor>9</parameter_version_minor>
<group name="UAVCAN Motor Parameters" no_code_generation="true">
<parameter default="75" name="ctl_bw" type="INT32">
<short_desc>Speed controller bandwidth</short_desc>
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
<unit>Hertz</unit>
<min>10</min>
<max>250</max>
</parameter>
<parameter default="1" name="ctl_dir" type="INT32">
<short_desc>Reverse direction</short_desc>
<long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
<min>0</min>
<max>1</max>
</parameter>
<parameter default="1" name="ctl_gain" type="FLOAT">
<short_desc>Speed (RPM) controller gain</short_desc>
<long_desc>Speed (RPM) controller gain. Determines controller
aggressiveness; units are amp-seconds per radian. Systems with
higher rotational inertia (large props) will need gain increased;
systems with low rotational inertia (small props) may need gain
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.</long_desc>
<unit>amp-seconds per radian</unit>
<decimal>3</decimal>
<min>0.00</min>
<max>1.00</max>
</parameter>
<parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
<short_desc>Idle speed (e Hz)</short_desc>
<long_desc>Idle speed (e Hz)</long_desc>
<unit>Hertz</unit>
<decimal>3</decimal>
<min>0.0</min>
<max>100.0</max>
</parameter>
<parameter default="25" name="ctl_start_rate" type="INT32">
<short_desc>Spin-up rate (e Hz/s)</short_desc>
<long_desc>Spin-up rate (e Hz/s)</long_desc>
<unit>Hz/s</unit>
<min>5</min>
<max>1000</max>
</parameter>
<parameter default="0" name="esc_index" type="INT32">
<short_desc>Index of this ESC in throttle command messages.</short_desc>
<long_desc>Index of this ESC in throttle command messages.</long_desc>
<unit>Index</unit>
<min>0</min>
<max>15</max>
</parameter>
<parameter default="20034" name="id_ext_status" type="INT32">
<short_desc>Extended status ID</short_desc>
<long_desc>Extended status ID</long_desc>
<min>1</min>
<max>1000000</max>
</parameter>
<parameter default="50000" name="int_ext_status" type="INT32">
<short_desc>Extended status interval (µs)</short_desc>
<long_desc>Extended status interval (µs)</long_desc>
<unit>µs</unit>
<min>0</min>
<max>1000000</max>
</parameter>
<parameter default="50000" name="int_status" type="INT32">
<short_desc>ESC status interval (µs)</short_desc>
<long_desc>ESC status interval (µs)</long_desc>
<unit>µs</unit>
<max>1000000</max>
</parameter>
<parameter default="12" name="mot_i_max" type="FLOAT">
<short_desc>Motor current limit in amps</short_desc>
<long_desc>Motor current limit in amps. This determines the maximum
current controller setpoint, as well as the maximum allowable
current setpoint slew rate. This value should generally be set to
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.</long_desc>
<unit>Amps</unit>
<decimal>3</decimal>
<min>1</min>
<max>80</max>
</parameter>
<parameter default="2300" name="mot_kv" type="INT32">
<short_desc>Motor Kv in RPM per volt</short_desc>
<long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.</long_desc>
<unit>RPM/v</unit>
<min>0</min>
<max>4000</max>
</parameter>
<parameter default="0.0" name="mot_ls" type="FLOAT">
<short_desc>READ ONLY: Motor inductance in henries.</short_desc>
<long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
<unit>henries</unit>
<decimal>3</decimal>
</parameter>
<parameter default="14" name="mot_num_poles" type="INT32">
<short_desc>Number of motor poles.</short_desc>
<long_desc>Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.</long_desc>
<unit>Poles</unit>
<min>2</min>
<max>40</max>
</parameter>
<parameter default="0.0" name="mot_rs" type="FLOAT">
<short_desc>READ ONLY: Motor resistance in ohms</short_desc>
<long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.</long_desc>
<unit>Ohms</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.5" name="mot_v_accel" type="FLOAT">
<short_desc>Acceleration limit (V)</short_desc>
<long_desc>Acceleration limit (V)</long_desc>
<unit>Volts</unit>
<decimal>3</decimal>
<min>0.01</min>
<max>1.00</max>
</parameter>
<parameter default="14.8" name="mot_v_max" type="FLOAT">
<short_desc>Motor voltage limit in volts</short_desc>
<long_desc>Motor voltage limit in volts. The current controller’s
commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.</long_desc>
<unit>Volts</unit>
<decimal>3</decimal>
<min>0</min>
</parameter>
</group>
<group name="Attitude EKF estimator">
<parameter default="1e-4" name="EKF_ATT_V3_Q0" type="FLOAT">
<short_desc>Body angular rate process noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.08" name="EKF_ATT_V3_Q1" type="FLOAT">
<short_desc>Body angular acceleration process noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.009" name="EKF_ATT_V3_Q2" type="FLOAT">
<short_desc>Acceleration process noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.005" name="EKF_ATT_V3_Q3" type="FLOAT">
<short_desc>Magnet field vector process noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.0008" name="EKF_ATT_V4_R0" type="FLOAT">
<short_desc>Gyro measurement noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="10000.0" name="EKF_ATT_V4_R1" type="FLOAT">
<short_desc>Accel measurement noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="100.0" name="EKF_ATT_V4_R2" type="FLOAT">
<short_desc>Mag measurement noise</short_desc>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.0018" name="ATT_J11" type="FLOAT">
<short_desc>Moment of inertia matrix diagonal entry (1, 1)</short_desc>
<unit>kg*m^2</unit>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.0018" name="ATT_J22" type="FLOAT">
<short_desc>Moment of inertia matrix diagonal entry (2, 2)</short_desc>
<unit>kg*m^2</unit>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0.0037" name="ATT_J33" type="FLOAT">
<short_desc>Moment of inertia matrix diagonal entry (3, 3)</short_desc>
<unit>kg*m^2</unit>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
<parameter default="0" name="ATT_J_EN" type="INT32">
<short_desc>Moment of inertia enabled in estimator</short_desc>
<long_desc>If set to != 0 the moment of inertia will be used in the estimator</long_desc>
<min>0</min>
<max>1</max>
<scope>modules/attitude_estimator_ekf</scope>
</parameter>
</group>
<group name="Attitude Q estimator">
<parameter default="0.2" name="ATT_W_ACC" type="FLOAT">
<short_desc>Complimentary filter accelerometer weight</short_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0.1" name="ATT_W_MAG" type="FLOAT">
<short_desc>Complimentary filter magnetometer weight</short_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0.1" name="ATT_W_EXT_HDG" type="FLOAT">
<short_desc>Complimentary filter external heading weight</short_desc>
<min>0</min>
<max>1</max>
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0.1" name="ATT_W_GYRO_BIAS" type="FLOAT">
<short_desc>Complimentary filter gyroscope bias weight</short_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0.0" name="ATT_MAG_DECL" type="FLOAT">
<short_desc>Magnetic declination, in degrees</short_desc>
<long_desc>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</long_desc>
<unit>deg</unit>
<decimal>2</decimal>
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="1" name="ATT_MAG_DECL_A" type="INT32">
<short_desc>Enable automatic GPS based declination compensation</short_desc>
<boolean />
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0" name="ATT_EXT_HDG_M" type="INT32">
<short_desc>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</short_desc>
<min>0</min>
<max>2</max>
<scope>modules/attitude_estimator_q</scope>
<values>
<value code="1">Vision</value>
<value code="0">None</value>
<value code="2">Motion Capture</value>
</values>
</parameter>
<parameter default="1" name="ATT_ACC_COMP" type="INT32">
<short_desc>Enable acceleration compensation based on GPS
velocity</short_desc>
<boolean />
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0.05" name="ATT_BIAS_MAX" type="FLOAT">
<short_desc>Gyro bias limit</short_desc>
<min>0</min>
<max>2</max>
<unit>rad/s</unit>
<decimal>3</decimal>
<scope>modules/attitude_estimator_q</scope>
</parameter>
<parameter default="0.2" name="ATT_VIBE_THRESH" type="FLOAT">
<short_desc>Threshold (of RMS) to warn about high vibration levels</short_desc>
<min>0.01</min>
<max>10</max>
<decimal>2</decimal>
<scope>modules/attitude_estimator_q</scope>
</parameter>
</group>
<group name="Battery Calibration">
<parameter default="10000" name="BAT_V_SCALE_IO" type="INT32">
<short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc>
<min>1</min>
<max>100000</max>
<scope>modules/sensors</scope>
</parameter>
<parameter default="-1.0" name="BAT_V_SCALING" type="FLOAT">
<short_desc>Scaling factor for battery voltage sensor on FMU v2</short_desc>
<decimal>8</decimal>
<scope>modules/sensors</scope>
</parameter>
<parameter default="-1.0" name="BAT_C_SCALING" type="FLOAT">
<short_desc>Scaling factor for battery current sensor</short_desc>
<decimal>8</decimal>
<scope>modules/sensors</scope>
</parameter>
<parameter default="-1.0" name="BAT_C_OFFSET" type="FLOAT">
<short_desc>Offset for battery current sensor</short_desc>
<decimal>8</decimal>
<scope>modules/sensors</scope>
</parameter>
<parameter default="3.4" name="BAT_V_EMPTY" type="FLOAT">
<short_desc>Empty cell voltage (5C load)</short_desc>
<long_desc>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.</long_desc>
<unit>V</unit>
<decimal>2</decimal>
<increment>0.01</increment>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="4.05" name="BAT_V_CHARGED" type="FLOAT">
<short_desc>Full cell voltage (5C load)</short_desc>
<long_desc>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</long_desc>
<unit>V</unit>
<decimal>2</decimal>
<increment>0.01</increment>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0.15" name="BAT_LOW_THR" type="FLOAT">
<short_desc>Low threshold</short_desc>
<long_desc>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
<min>0.12</min>
<max>0.4</max>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0.07" name="BAT_CRIT_THR" type="FLOAT">
<short_desc>Critical threshold</short_desc>
<long_desc>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 or landing.</long_desc>
<min>0.05</min>
<max>0.1</max>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0.3" name="BAT_V_LOAD_DROP" type="FLOAT">
<short_desc>Voltage drop per cell on full throttle</short_desc>
<long_desc>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.</long_desc>
<min>0.07</min>
<max>0.5</max>
<unit>V</unit>
<decimal>2</decimal>
<increment>0.01</increment>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="3" name="BAT_N_CELLS" type="INT32">
<short_desc>Number of cells</short_desc>
<long_desc>Defines the number of cells the attached battery consists of.</long_desc>
<unit>S</unit>
<scope>modules/systemlib</scope>
<values>
<value code="11">11S Battery</value>
<value code="10">10S Battery</value>
<value code="13">13S Battery</value>
<value code="12">12S Battery</value>
<value code="15">15S Battery</value>
<value code="14">14S Battery</value>
<value code="16">16S Battery</value>
<value code="3">3S Battery</value>
<value code="2">2S Battery</value>
<value code="5">5S Battery</value>
<value code="4">4S Battery</value>
<value code="7">7S Battery</value>
<value code="6">6S Battery</value>
<value code="9">9S Battery</value>
<value code="8">8S Battery</value>
</values>
</parameter>
<parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
<short_desc>Battery capacity</short_desc>
<long_desc>Defines the capacity of the attached battery.</long_desc>
<min>-1.0</min>
<max>100000</max>
<unit>mA</unit>
<decimal>0</decimal>
<increment>50</increment>
<scope>modules/systemlib</scope>
</parameter>
</group>
<group name="Camera trigger">
<parameter default="40.0" name="TRIG_INTERVAL" type="FLOAT">
<short_desc>Camera trigger interval</short_desc>
<long_desc>This parameter sets the time between two consecutive trigger events</long_desc>
<min>4.0</min>
<max>10000.0</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>drivers/camera_trigger</scope>
</parameter>
<parameter default="0" name="TRIG_POLARITY" type="INT32">
<short_desc>Camera trigger polarity</short_desc>
<long_desc>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</long_desc>
<min>0</min>
<max>1</max>
<scope>drivers/camera_trigger</scope>
<values>
<value code="1">Active high</value>
<value code="0">Active low</value>
</values>
</parameter>
<parameter default="0.5" name="TRIG_ACT_TIME" type="FLOAT">
<short_desc>Camera trigger activation time</short_desc>
<long_desc>This parameter sets the time the trigger needs to pulled high or low.</long_desc>
<min>0.1</min>
<max>3</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>drivers/camera_trigger</scope>
</parameter>
<parameter default="0" name="TRIG_MODE" type="INT32">
<short_desc>Camera trigger mode</short_desc>
<long_desc>0 disables the trigger, 1 sets it to enabled on command, 2 time based and always on, 3 distance based and always on, 4 distance based and started / stopped via mission or command.</long_desc>
<min>0</min>
<max>4</max>
<reboot_required>true</reboot_required>
<scope>drivers/camera_trigger</scope>
<values>
<value code="1">On invididual commands</value>
<value code="0">Disable</value>
<value code="3">Distance based, always on</value>
<value code="2">Time based, always on</value>
<value code="4">Distance, mission controlled</value>
</values>
</parameter>
<parameter default="12" name="TRIG_PINS" type="INT32">
<short_desc>Camera trigger pin</short_desc>
<long_desc>Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6)</long_desc>
<min>1</min>
<max>123456</max>
<decimal>0</decimal>
<reboot_required>true</reboot_required>
<scope>drivers/camera_trigger</scope>
</parameter>
<parameter default="25.0" name="TRIG_DISTANCE" type="FLOAT">
<short_desc>Camera trigger distance</short_desc>
<long_desc>Sets the distance at which to trigger the camera.</long_desc>
<min>0</min>
<unit>m</unit>
<decimal>1</decimal>
<increment>1</increment>
<scope>drivers/camera_trigger</scope>
</parameter>
</group>
<group name="Circuit Breaker">
<parameter default="0" name="CBRK_SUPPLY_CHK" type="INT32">
<short_desc>Circuit breaker for power supply check</short_desc>
<long_desc>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>894281</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0" name="CBRK_RATE_CTRL" type="INT32">
<short_desc>Circuit breaker for rate controller output</short_desc>
<long_desc>Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>140253</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0" name="CBRK_IO_SAFETY" type="INT32">
<short_desc>Circuit breaker for IO safety</short_desc>
<long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>22027</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0" name="CBRK_AIRSPD_CHK" type="INT32">
<short_desc>Circuit breaker for airspeed sensor</short_desc>
<long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>162128</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="121212" name="CBRK_FLIGHTTERM" type="INT32">
<short_desc>Circuit breaker for flight termination</short_desc>
<long_desc>Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>121212</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="284953" name="CBRK_ENGINEFAIL" type="INT32">
<short_desc>Circuit breaker for engine failure detection</short_desc>
<long_desc>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</long_desc>
<min>0</min>
<max>284953</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="240024" name="CBRK_GPSFAIL" type="INT32">
<short_desc>Circuit breaker for GPS failure detection</short_desc>
<long_desc>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</long_desc>
<min>0</min>
<max>240024</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0" name="CBRK_BUZZER" type="INT32">
<short_desc>Circuit breaker for disabling buzzer</short_desc>
<long_desc>Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>782097</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
<parameter default="0" name="CBRK_USB_CHK" type="INT32">
<short_desc>Circuit breaker for USB link check</short_desc>
<long_desc>Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min>
<max>197848</max>
<reboot_required>true</reboot_required>
<scope>modules/systemlib</scope>
</parameter>
</group>
<group name="Commander">
<parameter default="10" name="COM_DL_LOSS_T" type="INT32">
<short_desc>Datalink loss time threshold</short_desc>
<long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
<min>5</min>
<max>300</max>
<unit>s</unit>
<decimal>1</decimal>
<increment>0.5</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="0" name="COM_DL_REG_T" type="INT32">
<short_desc>Datalink regain time threshold</short_desc>
<long_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
<min>0</min>
<max>3</max>
<unit>s</unit>
<decimal>1</decimal>
<increment>0.5</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="0.5" name="COM_EF_THROT" type="FLOAT">
<short_desc>Engine Failure Throttle Threshold</short_desc>
<long_desc>Engine failure triggers only above this throttle value</long_desc>
<min>0.0</min>
<max>1.0</max>
<decimal>1</decimal>
<increment>0.05</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="5.0" name="COM_EF_C2T" type="FLOAT">
<short_desc>Engine Failure Current/Throttle Threshold</short_desc>
<long_desc>Engine failure triggers only below this current value</long_desc>
<min>0.0</min>
<max>50.0</max>
<unit>A</unit>
<decimal>2</decimal>
<increment>1</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="10.0" name="COM_EF_TIME" type="FLOAT">
<short_desc>Engine Failure Time Threshold</short_desc>
<long_desc>Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time</long_desc>
<min>0.0</min>
<max>60.0</max>
<unit>s</unit>
<decimal>1</decimal>
<increment>1</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT">
<short_desc>RC loss time threshold</short_desc>
<long_desc>After this amount of seconds without RC connection the rc lost flag is set to true</long_desc>
<min>0</min>
<max>35</max>
<unit>s</unit>
<decimal>1</decimal>
<increment>0.1</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="5.0" name="COM_HOME_H_T" type="FLOAT">
<short_desc>Home set horizontal threshold</short_desc>
<long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
<min>2</min>
<max>15</max>
<unit>m</unit>
<decimal>2</decimal>
<increment>0.5</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="10.0" name="COM_HOME_V_T" type="FLOAT">
<short_desc>Home set vertical threshold</short_desc>
<long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
<min>5</min>
<max>25</max>
<unit>m</unit>
<decimal>2</decimal>
<increment>0.5</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="1" name="COM_AUTOS_PAR" type="INT32">
<short_desc>Autosaving of params</short_desc>
<long_desc>If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off.</long_desc>
<boolean />
<scope>modules/commander</scope>
</parameter>
<parameter default="0" name="COM_RC_IN_MODE" type="INT32">
<short_desc>RC control input mode</short_desc>
<long_desc>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.</long_desc>
<min>0</min>
<max>2</max>
<scope>modules/commander</scope>
<values>
<value code="1">Joystick/No RC Checks</value>
<value code="0">RC Transmitter</value>
<value code="2">Virtual RC by Joystick</value>
</values>
</parameter>
<parameter default="0" name="COM_DISARM_LAND" type="INT32">
<short_desc>Time-out for auto disarm after landing</short_desc>
<long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled.</long_desc>
<min>0</min>
<max>20</max>
<unit>s</unit>
<decimal>0</decimal>
<increment>1</increment>
<scope>modules/commander</scope>
</parameter>
<parameter default="0" name="COM_LOW_BAT_ACT" type="INT32">
<short_desc>Battery failsafe mode</short_desc>
<long_desc>Action the system takes on low battery. Defaults to off</long_desc>
<decimal>0</decimal>
<increment>1</increment>
<scope>modules/commander</scope>
<values>
<value code="1">Return to Land</value>
<value code="0">Warning</value>
<value code="2">Land at current position</value>
</values>
</parameter>
</group>
<group name="Data Link Loss">
<parameter default="120.0" name="NAV_DLL_CH_T" type="FLOAT">
<short_desc>Comms hold wait time</short_desc>
<long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
<min>0.0</min>
<unit>s</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="-266072120" name="NAV_DLL_CH_LAT" type="INT32">
<short_desc>Comms hold Lat</short_desc>
<long_desc>Latitude of comms hold waypoint</long_desc>
<min>-900000000</min>
<max>900000000</max>
<unit>deg * 1e7</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="1518453890" name="NAV_DLL_CH_LON" type="INT32">
<short_desc>Comms hold Lon</short_desc>
<long_desc>Longitude of comms hold waypoint</long_desc>
<min>-1800000000</min>
<max>1800000000</max>
<unit>deg * 1e7</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="600.0" name="NAV_DLL_CH_ALT" type="FLOAT">
<short_desc>Comms hold alt</short_desc>
<long_desc>Altitude of comms hold waypoint</long_desc>
<min>-50</min>
<max>30000</max>
<unit>m</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="120.0" name="NAV_DLL_AH_T" type="FLOAT">
<short_desc>Airfield hole wait time</short_desc>
<long_desc>The amount of time in seconds the system should wait at the airfield home waypoint</long_desc>
<min>0.0</min>
<unit>s</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="2" name="NAV_DLL_N" type="INT32">
<short_desc>Number of allowed Datalink timeouts</short_desc>
<long_desc>After more than this number of data link timeouts the aircraft returns home directly</long_desc>
<min>0</min>
<max>1000</max>
<scope>modules/navigator</scope>
</parameter>
<parameter default="0" name="NAV_DLL_CHSK" type="INT32">
<short_desc>Skip comms hold wp</short_desc>
<long_desc>If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home</long_desc>
<boolean />
<scope>modules/navigator</scope>
</parameter>
<parameter default="-265847810" name="NAV_AH_LAT" type="INT32">
<short_desc>Airfield home Lat</short_desc>
<long_desc>Latitude of airfield home waypoint</long_desc>
<min>-900000000</min>
<max>900000000</max>
<unit>deg * 1e7</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="1518423250" name="NAV_AH_LON" type="INT32">
<short_desc>Airfield home Lon</short_desc>
<long_desc>Longitude of airfield home waypoint</long_desc>
<min>-1800000000</min>
<max>1800000000</max>
<unit>deg * 1e7</unit>
<scope>modules/navigator</scope>
</parameter>
<parameter default="600.0" name="NAV_AH_ALT" type="FLOAT">
<short_desc>Airfield home alt</short_desc>
<long_desc>Altitude of airfield home waypoint</long_desc>
<min>-50</min>
<unit>m</unit>
<scope>modules/navigator</scope>
</parameter>
</group>
<group name="EKF2">
<parameter default="0" name="EKF2_MAG_DELAY" type="FLOAT">
<short_desc>Magnetometer measurement delay relative to IMU measurements</short_desc>
<min>0</min>
<max>300</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0" name="EKF2_BARO_DELAY" type="FLOAT">
<short_desc>Barometer measurement delay relative to IMU measurements</short_desc>
<min>0</min>
<max>300</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="200" name="EKF2_GPS_DELAY" type="FLOAT">
<short_desc>GPS measurement delay relative to IMU measurements</short_desc>
<min>0</min>
<max>300</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5" name="EKF2_OF_DELAY" type="FLOAT">
<short_desc>Optical flow measurement delay relative to IMU measurements
Assumes measurement is timestamped at trailing edge of integration period</short_desc>
<min>0</min>
<max>300</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5" name="EKF2_RNG_DELAY" type="FLOAT">
<short_desc>Range finder measurement delay relative to IMU measurements</short_desc>
<min>0</min>
<max>300</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="200" name="EKF2_ASP_DELAY" type="FLOAT">
<short_desc>Airspeed measurement delay relative to IMU measurements</short_desc>
<min>0</min>
<max>300</max>
<unit>ms</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="21" name="EKF2_GPS_CHECK" type="INT32">
<short_desc>Integer bitmask controlling GPS checks</short_desc>
<long_desc>Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</long_desc>
<min>0</min>
<max>511</max>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5.0" name="EKF2_REQ_EPH" type="FLOAT">
<short_desc>Required EPH to use GPS</short_desc>
<min>2</min>
<max>100</max>
<unit>m</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="8.0" name="EKF2_REQ_EPV" type="FLOAT">
<short_desc>Required EPV to use GPS</short_desc>
<min>2</min>
<max>100</max>
<unit>m</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="1.0" name="EKF2_REQ_SACC" type="FLOAT">
<short_desc>Required speed accuracy to use GPS</short_desc>
<min>0.5</min>
<max>5.0</max>
<unit>m/s</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="6" name="EKF2_REQ_NSATS" type="INT32">
<short_desc>Required satellite count to use GPS</short_desc>
<min>4</min>
<max>12</max>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="2.5" name="EKF2_REQ_GDOP" type="FLOAT">
<short_desc>Required GDoP to use GPS</short_desc>
<min>1.5</min>
<max>5.0</max>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0.3" name="EKF2_REQ_HDRIFT" type="FLOAT">
<short_desc>Maximum horizontal drift speed to use GPS</short_desc>
<min>0.1</min>
<max>1.0</max>
<unit>m/s</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0.5" name="EKF2_REQ_VDRIFT" type="FLOAT">
<short_desc>Maximum vertical drift speed to use GPS</short_desc>
<min>0.1</min>
<max>1.5</max>
<unit>m/s</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="6.0e-2" name="EKF2_GYR_NOISE" type="FLOAT">
<short_desc>Rate gyro noise for covariance prediction</short_desc>
<min>0.0001</min>
<max>0.1</max>
<unit>rad/s</unit>
<decimal>4</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0.25" name="EKF2_ACC_NOISE" type="FLOAT">
<short_desc>Accelerometer noise for covariance prediction</short_desc>
<min>0.01</min>
<max>1.0</max>
<unit>m/s/s</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="2.5e-6" name="EKF2_GYR_B_NOISE" type="FLOAT">
<short_desc>Process noise for delta angle bias prediction</short_desc>
<min>0.0</min>
<max>0.0001</max>
<unit>rad/s</unit>
<decimal>8</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="3.0e-5" name="EKF2_ACC_B_NOISE" type="FLOAT">
<short_desc>Process noise for delta velocity z bias prediction</short_desc>
<min>0.0</min>
<max>0.01</max>
<unit>m/s/s</unit>
<decimal>7</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="3.0e-4" name="EKF2_GYR_S_NOISE" type="FLOAT">
<short_desc>Process noise for delta angle scale factor prediction</short_desc>
<min>0.0</min>
<max>0.01</max>
<decimal>6</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5.0e-4" name="EKF2_MAG_B_NOISE" type="FLOAT">
<short_desc>Process noise for body magnetic field prediction</short_desc>
<min>0.0</min>
<max>0.1</max>
<unit>Gauss/s</unit>
<decimal>6</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="2.5e-3" name="EKF2_MAG_E_NOISE" type="FLOAT">
<short_desc>Process noise for earth magnetic field prediction</short_desc>
<min>0.0</min>
<max>0.1</max>
<unit>Gauss/s</unit>
<decimal>6</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="1.0e-1" name="EKF2_WIND_NOISE" type="FLOAT">
<short_desc>Process noise for wind velocity prediction</short_desc>
<min>0.0</min>
<max>1.0</max>
<unit>m/s/s</unit>
<decimal>3</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0.5" name="EKF2_GPS_V_NOISE" type="FLOAT">
<short_desc>Measurement noise for gps horizontal velocity</short_desc>
<min>0.01</min>
<max>5.0</max>
<unit>m/s</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0.5" name="EKF2_GPS_P_NOISE" type="FLOAT">
<short_desc>Measurement noise for gps position</short_desc>
<min>0.01</min>
<max>10.0</max>
<unit>m</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="10.0" name="EKF2_NOAID_NOISE" type="FLOAT">
<short_desc>Measurement noise for non-aiding position hold</short_desc>
<min>0.5</min>
<max>50.0</max>
<unit>m</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="3.0" name="EKF2_BARO_NOISE" type="FLOAT">
<short_desc>Measurement noise for barometric altitude</short_desc>
<min>0.01</min>
<max>15.0</max>
<unit>m</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0.3" name="EKF2_HEAD_NOISE" type="FLOAT">
<short_desc>Measurement noise for magnetic heading fusion</short_desc>
<min>0.01</min>
<max>1.0</max>
<unit>rad</unit>
<decimal>2</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5.0e-2" name="EKF2_MAG_NOISE" type="FLOAT">
<short_desc>Measurement noise for magnetometer 3-axis fusion</short_desc>
<min>0.001</min>
<max>1.0</max>
<unit>Gauss</unit>
<decimal>3</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="1.4" name="EKF2_EAS_NOISE" type="FLOAT">
<short_desc>Measurement noise for airspeed fusion</short_desc>
<min>0.5</min>
<max>5.0</max>
<unit>m/s</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0" name="EKF2_MAG_DECL" type="FLOAT">
<short_desc>Magnetic declination</short_desc>
<unit>deg</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="2.6" name="EKF2_HDG_GATE" type="FLOAT">
<short_desc>Gate size for magnetic heading fusion</short_desc>
<min>1.0</min>
<unit>SD</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="3.0" name="EKF2_MAG_GATE" type="FLOAT">
<short_desc>Gate size for magnetometer XYZ component fusion</short_desc>
<min>1.0</min>
<unit>SD</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="7" name="EKF2_DECL_TYPE" type="INT32">
<short_desc>Integer bitmask controlling handling of magnetic declination</short_desc>
<long_desc>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 observaton when 3-axis magnetometer fusion is being used.</long_desc>
<min>0</min>
<max>7</max>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0" name="EKF2_MAG_TYPE" type="INT32">
<short_desc>Type of magnetometer fusion</short_desc>
<long_desc>Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight</long_desc>
<scope>modules/ekf2</scope>
<values>
<value code="1">Magnetic heading</value>
<value code="0">Automatic</value>
<value code="3">2-D projection</value>
<value code="2">3-axis fusion</value>
<value code="4">None</value>
</values>
</parameter>
<parameter default="5.0" name="EKF2_BARO_GATE" type="FLOAT">
<short_desc>Gate size for barometric height fusion</short_desc>
<min>1.0</min>
<unit>SD</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5.0" name="EKF2_GPS_P_GATE" type="FLOAT">
<short_desc>Gate size for GPS horizontal position fusion</short_desc>
<min>1.0</min>
<unit>SD</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="5.0" name="EKF2_GPS_V_GATE" type="FLOAT">
<short_desc>Gate size for GPS velocity fusion</short_desc>
<min>1.0</min>
<unit>SD</unit>
<decimal>1</decimal>
<scope>modules/ekf2</scope>
</parameter>
<parameter default="0" name="EKF2_REC_RPL" type="INT32">
<short_desc>Replay mode</short_desc>
<long_desc>A value of 1 indicates that the ekf2 module will publish replay messages for logging.</long_desc>
<boolean />
<scope>modules/ekf2</scope>
</parameter>
<parameter default="1" name="EKF2_AID_MASK" type="INT32">
<short_desc>Integer bitmask controlling which external aiding sources will be used</short_desc>