Advanced Topics - 参考参数

Body angular rate process noise

Body angular acceleration process noise

Acceleration process noise

Magnet field vector process noise

Gyro measurement noise

Accel measurement noise

Mag measurement noise

Moment of inertia matrix diagonal entry (1, 1)

Moment of inertia matrix diagonal entry (2, 2)

Moment of inertia matrix diagonal entry (3, 3)

Moment of inertia enabled in estimator

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

Complimentary filter accelerometer weight

Complimentary filter magnetometer weight

Complimentary filter external heading weight

Complimentary filter gyroscope bias weight

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.

Automatic GPS based declination compensation

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

• 0: None



• 1: Vision



• 2: Motion Capture

Acceleration compensation based on GPS
velocity

Gyro bias limit

Scaling factor for battery voltage sensor on PX4IO

Module: modules/sensors

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

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

Module: modules/sensors

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

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

Module: modules/sensors

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

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

Module: modules/sensors

Battery voltage divider (V divider)

Comment: This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.

Module: modules/sensors

Battery current per volt (A/V)

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

Module: modules/sensors

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.

• 0: Power Module



• 1: External

Module: modules/sensors

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: true

Module: modules/systemlib

Full cell voltage (5C load)

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

Reboot required: true

Module: modules/systemlib

Low threshold

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

Reboot required: true

Module: modules/systemlib

Critical threshold

Comment: Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.

Reboot required: true

Module: modules/systemlib

Emergency threshold

Comment: Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.

Reboot required: true

Module: modules/systemlib

Voltage drop per cell on full throttle

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

Reboot required: true

Module: modules/systemlib

Explicitly defines the per cell internal resistance

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

Reboot required: true

Module: modules/systemlib

Number of cells

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

• 0: Unconfigured



• 2: 2S Battery



• 3: 3S Battery



• 4: 4S Battery



• 5: 5S Battery



• 6: 6S Battery



• 7: 7S Battery



• 8: 8S Battery



• 9: 9S Battery



• 10: 10S Battery



• 11: 11S Battery



• 12: 12S Battery



• 13: 13S Battery



• 14: 14S Battery



• 15: 15S Battery



• 16: 16S Battery

Reboot required: true

Module: modules/systemlib

Battery capacity

Comment: Defines the capacity of the attached battery.

Reboot required: true

Module: modules/systemlib

Camera feedback mode

Comment: Sets the camera feedback mode.

• 0: Disabled



• 1: Feedback on trigger

Camera trigger Interface

Comment: Selects the trigger interface

• 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

Camera trigger interval

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

Camera trigger polarity

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

• 0: Active low



• 1: Active high

Camera trigger activation time

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

Camera trigger mode

• 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

Camera trigger pin

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

Reboot required: true

Camera trigger distance

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

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

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

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

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

Circuit breaker for flight termination

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

Reboot required: true

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

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

Circuit breaker for disabling buzzer

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

Reboot required: true

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

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

Datalink loss time threshold

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

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

Engine Failure Throttle Threshold

Comment: Engine failure triggers only above this throttle value

Engine Failure Current/Throttle Threshold

Comment: Engine failure triggers only below this current value

Engine Failure Time Threshold

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

RC loss time threshold

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

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.

Home set horizontal threshold

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

Home set vertical threshold

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

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.

• 0: RC Transmitter



• 1: Joystick/No RC Checks



• 2: Virtual RC by Joystick

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.

Time-out for auto disarm after landing

Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will be longer by a factor of 5. A value of zero means that automatic disarming is disabled.

Allow arming without GPS

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

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.

• 0: Arm switch is a switch that stays on when armed



• 1: Arm switch is a button that only triggers arming and disarming

Battery failsafe mode

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

• 0: Warning



• 1: Return to land



• 2: Land at current position



• 3: Return to land at critically low level, land at current position if reaching dangerously low levels

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

First flightmode slot (1000-1160)

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

• -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

Second flightmode slot (1160-1320)

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

• -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

Third flightmode slot (1320-1480)

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

• -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

Fourth flightmode slot (1480-1640)

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

• -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

Fifth flightmode slot (1640-1800)

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

• -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

Sixth flightmode slot (1800-2000)

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

• -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

Maximum EKF position innovation test ratio that will allow arming

Maximum EKF velocity innovation test ratio that will allow arming

Maximum EKF height innovation test ratio that will allow arming

Maximum EKF yaw innovation test ratio that will allow arming

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

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

Maximum accelerometer inconsistency between IMU units that will allow arming

Maximum rate gyro inconsistency between IMU units that will allow arming

Maximum magnetic field inconsistency between units that will allow arming

Enable RC stick override of auto modes

Require valid mission to arm

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

Arm authorization parameters, this uint32_t will be splitted 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

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

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

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

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.

Airfield home Lat

Comment: Latitude of airfield home waypoint

Airfield home Lon

Comment: Longitude of airfield home waypoint

Airfield home alt

Comment: Altitude of airfield home waypoint

Comms hold wait time

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

Comms hold Lat

Comment: Latitude of comms hold waypoint

Comms hold Lon

Comment: Longitude of comms hold waypoint

Comms hold alt

Comment: Altitude of comms hold waypoint

Airfield home wait time

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

Number of allowed Datalink timeouts

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

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

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

Magnetometer measurement delay relative to IMU measurements

Reboot required: true

Barometer measurement delay relative to IMU measurements

Reboot required: true

GPS measurement delay relative to IMU measurements

Reboot required: true

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

Reboot required: true

Range finder measurement delay relative to IMU measurements

Reboot required: true

Airspeed measurement delay relative to IMU measurements

Reboot required: true

Vision Position Estimator delay relative to IMU measurements

Reboot required: true

Integer bitmask controlling GPS checks

Comment: Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT

• 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)

Required EPH to use GPS

Required EPV to use GPS

Required speed accuracy to use GPS

Required satellite count to use GPS

Required GDoP to use GPS

Maximum horizontal drift speed to use GPS

Maximum vertical drift speed to use GPS

Rate gyro noise for covariance prediction

Accelerometer noise for covariance prediction

Process noise for IMU rate gyro bias prediction

Process noise for IMU accelerometer bias prediction

Process noise for body magnetic field prediction

Process noise for earth magnetic field prediction

Process noise for wind velocity prediction

Measurement noise for gps horizontal velocity

Measurement noise for gps position

Measurement noise for non-aiding position hold

Measurement noise for barometric altitude

Measurement noise for magnetic heading fusion

Measurement noise for magnetometer 3-axis fusion

Measurement noise for airspeed fusion

Noise for synthetic sideslip fusion

Magnetic declination

Gate size for magnetic heading fusion

Gate size for magnetometer XYZ component fusion

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.

• 0: use geo_lookup declination


• 1: save EKF2_MAG_DECL on disarm


• 2: use declination as an observation

Reboot required: true

Type of magnetometer fusion

Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable.

• 0: Automatic



• 1: Magnetic heading



• 2: 3-axis fusion



• 3: None

Reboot required: true

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

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

Gate size for barometric height fusion

Gate size for GPS horizontal position fusion

Gate size for GPS velocity fusion

Gate size for TAS fusion

Integer bitmask controlling data fusion and aiding methods

Comment: Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion

• 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

Reboot required: true

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.

• 0: Barometric pressure



• 1: GPS



• 2: Range sensor



• 3: Vision

Reboot required: true

Measurement noise for range finder fusion

Range finder range dependant noise scaler

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

Gate size for range finder fusion

Minimum valid range for the range finder

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

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

Gate size for vision estimate fusion

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

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

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

Gate size for optical flow fusion

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

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

Magnitude of terrain gradient

X position of IMU in body frame

Y position of IMU in body frame

Z position of IMU in body frame

X position of GPS antenna in body frame

Y position of GPS antenna in body frame

Z position of GPS antenna in body frame

X position of range finder origin in body frame

Y position of range finder origin in body frame

Z position of range finder origin in body frame

X position of optical flow focal point in body frame

Y position of optical flow focal point in body frame

Z position of optical flow focal point in body frame

X position of VI sensor focal point in body frame

Y position of VI sensor focal point in body frame

Z position of VI sensor focal point in body frame

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

Boolean determining if synthetic sideslip measurements should fused

Comment: A value of 1 indicates that fusion is active

Time constant of the velocity output prediction and smoothing filter

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

1-sigma IMU gyro switch-on bias

Reboot required: true

1-sigma IMU accelerometer switch-on bias

Reboot required: true

1-sigma tilt angle uncertainty after gravity vector alignment

Reboot required: true

Range sensor pitch offset

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

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

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

ID of Magnetometer the learned bias is for

Reboot required: true

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

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

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.

• 0: Range aid disabled



• 1: Range aid enabled

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).

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).

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Pitch rate proportional gain

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

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Maximum positive / up pitch rate

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

Module: modules/fw_att_control

Maximum negative / down pitch rate

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

Module: modules/fw_att_control

Pitch rate integrator limit

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

Module: modules/fw_att_control

Roll rate proportional Gain

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

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Roll integrator anti-windup

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

Module: modules/fw_att_control

Maximum roll rate

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

Module: modules/fw_att_control

Yaw rate proportional gain

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

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Yaw rate integrator limit

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

Module: modules/fw_att_control

Maximum yaw rate

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

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Enable wheel steering controller

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Wheel steering rate integrator limit

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

Module: modules/fw_att_control

Maximum wheel steering rate

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

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Pitch rate feed forward

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

Module: modules/fw_att_control

Yaw rate feed forward

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

Module: modules/fw_att_control

Wheel steering rate feed forward

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

Module: modules/fw_att_control

Minimal speed for yaw coordination

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

Module: modules/fw_att_control

Method used for yaw coordination

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

• 0: open-loop



• 1: closed-loop

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Max manual roll

Comment: Max roll for manual control in attitude stabilized mode

Module: modules/fw_att_control

Max manual pitch

Comment: Max pitch for manual control in attitude stabilized mode

Module: modules/fw_att_control

Scale factor for flaps

Module: modules/fw_att_control

Scale factor for flaperons

Module: modules/fw_att_control

Disable airspeed sensor

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

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

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.

Module: modules/fw_att_control

Threshold for Rattitude mode

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

Module: modules/fw_att_control

Attitude Wheel Time Constant

Comment: This defines the latency between a steering 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.

Module: modules/gnd_att_control

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.

L1 damping

Comment: Damping factor for L1 control.

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.

Throttle max slew rate

Comment: Maximum slew rate for the commanded throttle

Negative pitch limit

Comment: The minimum negative pitch the controller will output.

Positive pitch limit

Comment: The maximum positive pitch the controller will output.

Controller roll limit

Comment: The maximum roll the controller will output.

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.

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.

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.

Throttle limit value before flare

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

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).

Landing slope angle

Landing flare altitude (relative to landing altitude)

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.

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

Use terrain estimate during landing

Flare, minimum pitch

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

Flare, maximum pitch

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

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

Launch detection

Catapult accelerometer threshold

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

Catapult time threshold

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

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

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).

Minimum Airspeed

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

Module: modules/fw_pos_control_l1

Maximum Airspeed

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

Module: modules/fw_pos_control_l1

Cruise Airspeed

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

Module: modules/fw_pos_control_l1

Maximum climb rate

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

Module: modules/fw_pos_control_l1

Minimum descent rate

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

Module: modules/fw_pos_control_l1

Maximum descent rate

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

Module: modules/fw_pos_control_l1

TECS time constant

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

Module: modules/fw_pos_control_l1

TECS Throttle time constant

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

Module: modules/fw_pos_control_l1

Throttle damping factor

Comment: This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.

Module: modules/fw_pos_control_l1

Integrator gain

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

Module: modules/fw_pos_control_l1

Maximum vertical acceleration

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

Module: modules/fw_pos_control_l1

Complementary filter “omega” parameter for height

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

Module: modules/fw_pos_control_l1

Complementary filter “omega” parameter for speed

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

Module: modules/fw_pos_control_l1

Roll -> Throttle feedforward

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

Module: modules/fw_pos_control_l1

Speed <—> Altitude priority

Comment: This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).

Module: modules/fw_pos_control_l1

Pitch damping factor

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

Module: modules/fw_pos_control_l1

Height rate proportional factor

Module: modules/fw_pos_control_l1

Height rate feed forward

Module: modules/fw_pos_control_l1

Speed rate P factor

Module: modules/fw_pos_control_l1

Trim ground speed

Module: modules/gnd_pos_control

Maximum ground speed

Module: modules/gnd_pos_control

Minimum follow target altitude

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

Distance to follow target from

Comment: The distance in meters to follow the target at

Side to follow target from

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

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

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.

Module: modules/gnd_att_control

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.

Module: modules/gnd_att_control

Wheel steering rate integrator gain

Module: modules/gnd_att_control

Wheel steering rate integrator limit

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

Module: modules/gnd_att_control

Maximum wheel steering rate

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

Module: modules/gnd_att_control

Wheel steering rate feed forward

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

Module: modules/gnd_att_control

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.

Module: modules/gnd_att_control

Groundspeed speed trim

Comment: This allows to scale the turning radius depending on the speed.

Module: modules/gnd_att_control

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.

Module: modules/gnd_att_control

Control mode for speed

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

• 0: open loop control



• 1: close the loop with gps speed

Module: modules/gnd_pos_control

Speed proportional gain

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

Module: modules/gnd_pos_control

Speed Integral gain

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

Module: modules/gnd_pos_control

Speed proportional gain

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

Module: modules/gnd_pos_control

Speed integral maximum value

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

Module: modules/gnd_pos_control

Speed to throttle scaler

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

Module: modules/gnd_pos_control

L1 distance

Comment: This is the waypoint radius

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.

L1 damping

Comment: Damping factor for L1 control.

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

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

Throttle limit min

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

Idle throttle

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

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.

• 0: Disable



• 1: Enable

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.

• 2: stationary



• 4: automotive



• 6: airborne with <1g acceleration



• 7: airborne with <2g acceleration



• 8: airborne with <4g acceleration

Reboot required: true

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.

Fixed bank angle

Comment: Roll in degrees during the loiter

Fixed pitch angle

Comment: Pitch in degrees during the open loop loiter

Thrust

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

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.

• 0: None



• 1: Warning



• 2: Loiter



• 3: Return to Land



• 4: Flight terminate

Geofence altitude mode

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

• 0: WGS84



• 1: AMSL

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

• 0: GPOS



• 1: GPS

Geofence counter limit

Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered

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.

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.

Satellite radio read interval

Multicopter max climb rate

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

Multicopter max horizontal velocity

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

Multicopter max rotation

Comment: Maximum allowed angular velocity around each axis allowed in the landed state.

Multicopter specific force threshold

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

Multicopter sub-hover throttle scaling

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

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

Fixedwing max horizontal velocity

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

Fixedwing max climb rate

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

Fixedwing max short-term velocity

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

Airspeed max

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

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.

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.

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.

Optical flow z offset from center

Optical flow scale

Optical flow rotation (roll/pitch) noise gain

Optical flow angular velocity noise gain

Optical flow minimum quality threshold

Sonar z standard deviation

Sonar z offset from center of vehicle +down

Lidar z standard deviation

Lidar z offset from center of vehicle +down

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.

Accelerometer z noise density

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

Barometric presssure altitude z standard deviation

GPS delay compensaton

Minimum GPS xy standard deviation, uses reported EPH if greater

Minimum GPS z standard deviation, uses reported EPV if greater

GPS xy velocity standard deviation.
EPV used if greater than this value

GPS z velocity standard deviation

Max EPH allowed for GPS initialization

Max EPV allowed for GPS initialization

Vision delay compensaton

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

Vision xy standard deviation

Vision z standard deviation

Vicon position standard deviation

Position propagation noise density

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

Velocity propagation noise density

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

Accel bias propagation noise density

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

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

Flow gyro high pass filter cut off frequency

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

Local origin latitude for nav w/o GPS

Local origin longitude for nav w/o GPS

Cut frequency for state publication

Required velocity xy standard deviation to publish position

Required z standard deviation to publish altitude/ terrain

Land detector z standard deviation

Land detector xy velocity standard deviation

Integer bitmask controlling data fusion

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

• 0: fuse GPS, requires GPS for alt. init


• 1: fuse optical flow


• 2: fuse vision position


• 3: fuse vision yaw


• 4: fuse land detector


• 5: pub agl as lpos down


• 6: flow gyro compensation


• 7: fuse baro