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docs/en/advanced_config/parameter_reference.md
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@@ -24199,11 +24199,13 @@ Enable optical flow fusion.
Optical flow measurement delay relative to IMU measurements.
Assumes measurement is timestamped at trailing edge of integration period
Assumes measurement is timestamped at trailing edge of integration
period. The default matches a DroneCAN flow node, whose frame reaches
the flight controller about 7 ms after its integration window closes.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 300 | | 20 | ms | &nbsp; |
| &check; | 0 | 300 | | 7 | ms | &nbsp; |
### EKF2_OF_GATE (`FLOAT`) {#EKF2_OF_GATE}
@@ -41122,42 +41124,121 @@ can lead to an unexpected behavior and vehicle instability.
| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
| &nbsp; | | | | 2 | | &nbsp; |
### SENS_AFBR_HYSTER (`INT32`) {#SENS_AFBR_HYSTER}
### SENS_AFBR_DFM (`INT32`) {#SENS_AFBR_DFM}
AFBR Rangefinder Short/Long Range Threshold Hysteresis.
AFBR Rangefinder Dual Frequency Mode.
This parameter defines the hysteresis for switching between short and long range mode.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
| &nbsp; | 1 | 10 | | 1 | m | &nbsp; |
### SENS_AFBR_L_RATE (`INT32`) {#SENS_AFBR_L_RATE}
AFBR Rangefinder Long Range Rate.
This parameter defines measurement rate of the AFBR Rangefinder in long range mode.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
| &nbsp; | 1 | 100 | | 25 | | &nbsp; |
### SENS_AFBR_MODE (`INT32`) {#SENS_AFBR_MODE}
AFBR Rangefinder Mode.
This parameter defines the mode of the AFBR Rangefinder.
Dual frequency mode multiplies the module's base unambiguous range
(LV85D 12.5 m, LX85D 25 m) by 4 or 8, at the cost of frame time and,
at low signal, of wrong-window returns when the subframes disagree.
Auto selects DFM 4X on the LV85D and LX85D, which measured better
than the mode-default 8X on validity, spread and wrong-window returns
at every rate flown, and the measurement mode's default elsewhere.
**Values:**
- `-1`: Auto
- `0`: DFM Off
- `1`: DFM 4X
- `2`: DFM 8X
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | -1 | 2 | | -1 | | &nbsp; |
### SENS_AFBR_MODE (`INT32`) {#SENS_AFBR_MODE}
AFBR Rangefinder Measurement Mode.
Auto selects the module's default measurement mode as defined by the
AFBR-S50 API (LV85D/LX85D: Long Range). A mode the API rejects for
the detected module falls back to the module default.
**Values:**
- `-1`: Auto (module default)
- `0`: Short Range Mode
- `1`: Long Range Mode
- `2`: High Speed Short Range Mode
- `3`: High Speed Long Range Mode
- `4`: High Precision Short Range Mode
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 3 | | 0 | | &nbsp; |
| &check; | -1 | 4 | | -1 | | &nbsp; |
### SENS_AFBR_OFS_HI (`FLOAT`) {#SENS_AFBR_OFS_HI}
AFBR Rangefinder Range Offset (high power).
Global range offset for the high laser power stage, applied on top of
the factory calibration at startup. Written by 'afbrs50 cal'.
0 leaves the factory offset unchanged.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | | | | 0.0 | m | &nbsp; |
### SENS_AFBR_OFS_LO (`FLOAT`) {#SENS_AFBR_OFS_LO}
AFBR Rangefinder Range Offset (low power).
Global range offset for the low laser power stage, applied on top of
the factory calibration at startup. Written by 'afbrs50 cal'.
0 leaves the factory offset unchanged.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | | | | 0.0 | m | &nbsp; |
### SENS_AFBR_PROF (`INT32`) {#SENS_AFBR_PROF}
AFBR Rangefinder Performance Profile.
Trades detection range against update rate on the LV85D and LX85D;
other modules ignore it. Range: the highest rate that does not cost
reliable range (LV85D 20 Hz, LX85D 15 Hz). Fast: the module's native
rate (LV85D 50 Hz, LX85D 25 Hz) for optical flow and terrain
following near the ground; costs a few metres of reliable range in
bright light, none in low ambient light. Both profiles use DFM 4X.
An explicit SENS_AFBR_RATE or SENS_AFBR_DFM overrides the profile.
**Values:**
- `0`: Range
- `1`: Fast
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 1 | | 0 | | &nbsp; |
### SENS_AFBR_QMIN (`INT32`) {#SENS_AFBR_QMIN}
AFBR Rangefinder Minimum Signal Quality.
Measurements with a signal quality below this value are published
with signal quality 0 (invalid) so consumers drop them but still see
the sensor alive. Raising it rejects unreliable readings but also the
weak long-range returns, since those are the low quality ones.
0 publishes every measurement with its reported quality.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
| &nbsp; | 0 | 100 | | 0 | | &nbsp; |
### SENS_AFBR_RATE (`INT32`) {#SENS_AFBR_RATE}
AFBR Rangefinder Measurement Rate.
0 selects the per-module default: on the LV85D and LX85D the rate of
the SENS_AFBR_PROF profile, on other modules the measurement mode's
default frame time. Lower rates increase the exposure budget per
frame and thus the radiometric range. The API limits the frame time
to 200 ms, so values below 5 Hz are clamped to 5 Hz.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 100 | | 0 | Hz | &nbsp; |
### SENS_AFBR_ROT (`INT32`) {#SENS_AFBR_ROT}
@@ -41182,27 +41263,22 @@ Mounting orientation of the AFBR-S50 relative to the vehicle body frame.
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 25 | | 25 | | &nbsp; |
### SENS_AFBR_S_RATE (`INT32`) {#SENS_AFBR_S_RATE}
### SENS_AFBR_SNM (`INT32`) {#SENS_AFBR_SNM}
AFBR Rangefinder Short Range Rate.
AFBR Rangefinder Shot Noise Monitor Mode.
This parameter defines measurement rate of the AFBR Rangefinder in short range mode.
This parameter defines the mode of the AFBR Rangefinder's shot noise monitor.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
| &nbsp; | 1 | 100 | | 50 | | &nbsp; |
**Values:**
### SENS_AFBR_THRESH (`INT32`) {#SENS_AFBR_THRESH}
- `0`: Static Indoor Mode
- `1`: Static Outdoor Mode
- `2`: Dynamic Mode
- `3`: Dynamic Plus Mode
AFBR Rangefinder Short/Long Range Threshold.
This parameter defines the threshold for switching between short and long range mode.
The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis.
The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
| &nbsp; | 1 | 50 | | 4 | m | &nbsp; |
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 3 | | 3 | | &nbsp; |
### SENS_ASDT1_CFG (`INT32`) {#SENS_ASDT1_CFG}
docs/en/modules/modules_driver_distance_sensor.md
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@@ -6,31 +6,37 @@ Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Au
### Description
Driver for the Broadcom AFBRS50.
Driver for the Broadcom AFBR-S50 time-of-flight rangefinder.
### Examples
Attempt to start driver on a specified serial device.
```
afbrs50 start
```
Stop driver
```
afbrs50 stop
```
Run an absolute range offset calibration against a flat target at a known
distance (in meters), then check the result. Offsets persist to
SENS_AFBR_OFS_LO/HI and are re-applied at startup.
```
afbrs50 cal start 0.3
afbrs50 cal status
```
### Usage {#afbrs50_usage}
```
afbrs50 <command> [arguments...]
Commands:
start Start driver
-d <val> Serial device
start
stop Stop driver
cal Range offset calibration: cal start <distance_m> | status |
stop
stop
status print status info
```
## gy_us42
docs/en/modules/modules_driver_imu.md
+9
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@@ -739,6 +739,9 @@ icm42688p <command> [arguments...]
default: 0
[-C <val>] Input clock frequency (Hz)
default: 0
[-B <val>] Anti-alias filter bandwidth: 126, 258 or 394 Hz (0: chip
default 585 Hz)
default: 0
[-6] Drive ICM-42686
stop
@@ -825,6 +828,9 @@ iim42652 <command> [arguments...]
default: 0
[-C <val>] Input clock frequency (Hz)
default: 0
[-B <val>] Anti-alias filter bandwidth: 126, 258 or 394 Hz (0: chip
default 585 Hz)
default: 0
stop
@@ -854,6 +860,9 @@ iim42653 <command> [arguments...]
default: 0
[-C <val>] Input clock frequency (Hz)
default: 0
[-B <val>] Anti-alias filter bandwidth: 126, 258 or 394 Hz (0: chip
default 585 Hz)
default: 0
stop
docs/public/config/failsafe/index.wasm
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docs/public/config/failsafe/parameters.json
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