Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-26 01:17:51 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Update metadata and tidy a few docs (#25547)

Browse Source 
* Fix up metadata except for uorb graphs

* Additional customization of startup tidy
This commit is contained in:
Hamish Willee
2025-09-11 16:06:51 +10:00
committed by GitHub
parent 264b8fe277
commit d1da30911e
21 changed files with 674 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/advanced_config/parameter_reference.md
+203 -29
View File
@@ -692,6 +692,16 @@ to 0 and 4096. Other standard params follows the same rule.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 65535 | | 0 |
### PCA9685_EN_BUS (`INT32`) {#PCA9685_EN_BUS}
Enable the PCA9685 output driver.
The integer refers to the I2C bus number where PCA9685 is connected.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 10 | | 0 |
### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}
PCA9685 Output Channel 1 Failsafe Value.
@@ -14435,9 +14445,9 @@ Set bits in the following positions to enable:
### FW_AT_MAN_AUX (`INT32`) {#FW_AT_MAN_AUX}
Enable/disable auto tuning using an RC AUX input.
Enable/disable auto tuning using a manual control AUX input.
Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.
Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.
**Values:**
@@ -16242,21 +16252,6 @@ Expect and require a healthy MAVLink parachute system.
| ------ | -------- | -------- | --------- | ------------ | ---- |
|   | | | | Disabled (0) |
### COM_POSCTL_NAVL (`INT32`) {#COM_POSCTL_NAVL}
Position mode navigation loss response.
This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.
**Values:**
- `0`: Altitude mode
- `1`: Land mode (descend)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### COM_POS_FS_EPH (`FLOAT`) {#COM_POS_FS_EPH}
Horizontal position error threshold for hovering systems.
@@ -16363,7 +16358,7 @@ A negative value disables the check.
### COM_RCL_EXCEPT (`INT32`) {#COM_RCL_EXCEPT}
RC loss exceptions.
Manual control loss exceptions.
Specify modes where manual control loss is ignored and no failsafe is triggered.
External modes requiring stick input will still failsafe.
@@ -16381,7 +16376,7 @@ External modes requiring stick input will still failsafe.
### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
RC input arm/disarm command duration.
Manual control input arm/disarm command duration.
The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
@@ -16429,9 +16424,9 @@ Ensure the value is not set lower than the update interval of the RC or Joystick
### COM_RC_OVERRIDE (`INT32`) {#COM_RC_OVERRIDE}
Enable RC stick override of auto and/or offboard modes.
Enable manual control stick override.
When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV
When enabled, moving the sticks more than COM_RC_STICK_OV
immediately gives control back to the pilot by switching to Position mode and
if position is unavailable Altitude mode.
Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
@@ -16447,7 +16442,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
### COM_RC_STICK_OV (`FLOAT`) {#COM_RC_STICK_OV}
RC stick override threshold.
Stick override threshold.
If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
the autopilot the pilot takes over control.
@@ -16591,11 +16586,10 @@ action will be executed.
### NAV_RCL_ACT (`INT32`) {#NAV_RCL_ACT}
Set RC loss failsafe mode.
Set manual control loss failsafe mode.
The RC loss failsafe will only be entered after a timeout,
set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
by setting the COM_RC_IN_MODE param it will not be triggered.
The manual control loss failsafe will only be entered after a timeout,
set by COM_RC_LOSS_T in seconds.
**Values:**
@@ -16876,7 +16870,7 @@ armed.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1 | 0.01 | 0.055 | % |
|   | 0 | 1 | 0.01 | 0.055 | norm |
### DSHOT_TEL_CFG (`INT32`) {#DSHOT_TEL_CFG}
@@ -19929,7 +19923,7 @@ Yaw behaviour during orbit flight.
- `1`: Hold Initial Heading
- `2`: Uncontrolled
- `3`: Hold Front Tangent to Circle
- `4`: RC Controlled
- `4`: Manually (yaw stick) Controlled
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20268,6 +20262,7 @@ Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In additi
F9P units are connected to each other.
Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
RTK is still possible with this setup.
Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
**Values:**
@@ -20277,6 +20272,7 @@ RTK is still possible with this setup.
- `3`: Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
- `4`: Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
- `5`: Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
- `6`: Ground Control Station (UART2 outputs NMEA)
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
@@ -29542,6 +29538,16 @@ Distance from the center of the right wheel to the center of the left wheel.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 100 | 0.001 | 0 | m |
### RD_YAW_STK_GAIN (`FLOAT`) {#RD_YAW_STK_GAIN}
Yaw stick gain for Manual mode.
Assign value <1.0 to decrease stick response for yaw control.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.1 | 1 | 0.01 | 1 |
## Rover Mecanum
### RM_COURSE_CTL_TH (`FLOAT`) {#RM_COURSE_CTL_TH}
@@ -29567,6 +29573,16 @@ Distance from the center of the right wheel to the center of the left wheel.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 100 | 0.001 | 0 | m |
### RM_YAW_STK_GAIN (`FLOAT`) {#RM_YAW_STK_GAIN}
Yaw stick gain for Manual mode.
Assign value <1.0 to decrease stick response for yaw control.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.1 | 1 | 0.01 | 1 |
## Rover Rate Control
### RO_YAW_ACCEL_LIM (`FLOAT`) {#RO_YAW_ACCEL_LIM}
@@ -29591,6 +29607,18 @@ Set to -1 to disable.
| ------ | -------- | -------- | --------- | ------- | ------- |
| &nbsp; | -1 | 10000 | 0.01 | -1. | deg/s^2 |
### RO_YAW_EXPO (`FLOAT`) {#RO_YAW_EXPO}
Yaw rate expo factor.
Exponential factor for tuning the input curve shape.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 0. |
### RO_YAW_RATE_CORR (`FLOAT`) {#RO_YAW_RATE_CORR}
Yaw rate correction factor.
@@ -29651,6 +29679,19 @@ Percentage of stick input range that will be interpreted as zero around the stic
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.1 |
### RO_YAW_SUPEXPO (`FLOAT`) {#RO_YAW_SUPEXPO}
Yaw rate super expo factor.
"Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
0 Pure Expo function
0.7 reasonable shape enhancement for intuitive stick feel
0.95 very strong bent input curve only near maxima have effect
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 0.95 | | 0. |
## Rover Velocity Control
### RO_ACCEL_LIM (`FLOAT`) {#RO_ACCEL_LIM}
@@ -29838,6 +29879,24 @@ Selects the algorithm used for logfile encryption
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2 |
### SDLOG_BACKEND (`INT32`) {#SDLOG_BACKEND}
Logging Backend (integer bitmask).
If no logging is set the logger will not be started.
Set bits true to enable:
0: SD card logging
1: Mavlink logging
**Bitmask:**
- `0`: SD card logging
- `1`: Mavlink logging
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 3 | | 3 |
### SDLOG_BOOT_BAT (`INT32`) {#SDLOG_BOOT_BAT}
Battery-only Logging.
@@ -29924,10 +29983,12 @@ Logging Mode.
Determines when to start and stop logging. By default, logging is started
when arming the system, and stopped when disarming.
Note: The logging start/end points that can be configured here only apply to
SD logging. The mavlink backend is started/stopped independently
of these points.
**Values:**
- `-1`: disabled
- `0`: when armed until disarm (default)
- `1`: from boot until disarm
- `2`: from boot until shutdown
@@ -33018,6 +33079,31 @@ The mode will switch from long to short range when the distance is less than the
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1 | 50 | | 4 | m |
### SENS_BAHRS_CFG (`INT32`) {#SENS_BAHRS_CFG}
Serial Configuration for EULER-NAV BAHRS.
Configure on which serial port to run EULER-NAV BAHRS.
**Values:**
- `0`: Disabled
- `6`: UART 6
- `101`: TELEM 1
- `102`: TELEM 2
- `103`: TELEM 3
- `104`: TELEM/SERIAL 4
- `201`: GPS 1
- `202`: GPS 2
- `203`: GPS 3
- `300`: Radio Controller
- `301`: Wifi Port
- `401`: EXT2
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 0 |
### SENS_BARO_QNH (`FLOAT`) {#SENS_BARO_QNH}
QNH for barometer.
@@ -35562,6 +35648,86 @@ Note: certain drivers such as the GPS can determine the Baudrate automatically.
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 1 |
## Simulation
### SIM_GZ_EN_ASPD (`INT32`) {#SIM_GZ_EN_ASPD}
Enable airspeed sensor in Gazebo bridge.
**Values:**
- `0`: Disabled
- `1`: Enabled
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ----------- | ---- |
| &check; | | | | Enabled (1) |
### SIM_GZ_EN_BARO (`INT32`) {#SIM_GZ_EN_BARO}
Enable barometer/air pressure sensor in Gazebo bridge.
**Values:**
- `0`: Disabled
- `1`: Enabled
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ----------- | ---- |
| &check; | | | | Enabled (1) |
### SIM_GZ_EN_FLOW (`INT32`) {#SIM_GZ_EN_FLOW}
Enable optical flow sensor in Gazebo bridge.
**Values:**
- `0`: Disabled
- `1`: Enabled
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ----------- | ---- |
| &check; | | | | Enabled (1) |
### SIM_GZ_EN_GPS (`INT32`) {#SIM_GZ_EN_GPS}
Enable GPS/NavSat sensor in Gazebo bridge.
**Values:**
- `0`: Disabled
- `1`: Enabled
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ----------- | ---- |
| &check; | | | | Enabled (1) |
### SIM_GZ_EN_LIDAR (`INT32`) {#SIM_GZ_EN_LIDAR}
Enable laser/lidar sensors in Gazebo bridge.
**Values:**
- `0`: Disabled
- `1`: Enabled
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ----------- | ---- |
| &check; | | | | Enabled (1) |
### SIM_GZ_EN_ODOM (`INT32`) {#SIM_GZ_EN_ODOM}
Enable odometry in Gazebo bridge.
**Values:**
- `0`: Disabled
- `1`: Enabled
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ----------- | ---- |
| &check; | | | | Enabled (1) |
## Simulation In Hardware
### SIH_DISTSNSR_MAX (`FLOAT`) {#SIH_DISTSNSR_MAX}
@@ -41075,3 +41241,11 @@ SPC_VEHICLE_RESP.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.5 |
### ZENOH_DOMAIN_ID (`INT32`) {#ZENOH_DOMAIN_ID}
ROS2 RMW_ZENOH_CPP Domain id.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 232 | | 0 |