diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index a33ed2791e..d8af72eafd 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -14930,7 +14930,7 @@ Reboot | minValue | maxValue | increment | default | unit Home position enabled. -Set home position automatically if possible. +Set home position automatically if possible. During missions, the home position is locked and will not reset during intermediate landings. It will only update once the mission is complete or landed outside of a mission. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- @@ -15165,9 +15165,9 @@ Reboot | minValue | maxValue | increment | default | unit ### COM_POS_FS_EPH (`FLOAT`) {#COM_POS_FS_EPH} -Horizontal position error threshold. +Horizontal position error threshold for hovering systems. -This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable. +This is the horizontal position error (EPH) threshold that will trigger a failsafe. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Only used for multicopters and VTOLs in hover mode. Independent from estimator positioning data timeout threshold (see EKF2_NOAID_TOUT). Set to -1 to disable. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- @@ -17544,7 +17544,7 @@ Spoiler landing setting. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.0 | | 1 | 0.5 | m +  | 0.0 | 1.0 | 0.01 | 0. | norm ## FW Auto Takeoff @@ -17556,9 +17556,7 @@ Sets a fraction of full flaps during take-off. Also applies to flaperons if enab Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.1 | | 0.1 | 3.0 | m - -## FW Launch detection +  | 0.0 | 1.0 | 0.01 | 0.0 | norm ### FW_LAUN_AC_T (`FLOAT`) {#FW_LAUN_AC_T} @@ -17616,15 +17614,19 @@ Minimum pitch during takeoff. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.10 | 1.00 | 0.01 | 0.7 | +  | -5.0 | 30.0 | 0.5 | 10.0 | deg -### NPFG_EN_MIN_GSP (`INT32`) {#NPFG_EN_MIN_GSP} +## FW General -Enable minimum forward ground speed maintaining excess wind handling logic. +### FW_GPSF_LT (`INT32`) {#FW_GPSF_LT} + +GPS failure loiter time. + +The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | | | | Enabled (1) | +  | 0 | 3600 | | 30 | s ### FW_GPSF_R (`FLOAT`) {#FW_GPSF_R} @@ -17634,17 +17636,23 @@ Roll angle in GPS failure loiter mode. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.0 | 10.0 | 0.5 | 5.0 | m/s +  | 0.0 | 30.0 | 0.5 | 15.0 | deg -### NPFG_LB_PERIOD (`INT32`) {#NPFG_LB_PERIOD} +### FW_POS_STK_CONF (`INT32`) {#FW_POS_STK_CONF} -Enable automatic lower bound on the NPFG period. +Custom stick configuration. + +Applies in manual Position and Altitude flight modes. + +**Bitmask:** + +- `0`: Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick) +- `1`: Enable airspeed setpoint via sticks in altitude and position flight mode -Avoids limit cycling from a too aggressively tuned period/damping combination. If false, also disables upper bound NPFG_PERIOD_UB. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | | | | Enabled (1) | +  | 0 | 3 | | 2 | ### FW_P_LIM_MAX (`FLOAT`) {#FW_P_LIM_MAX} @@ -17654,7 +17662,7 @@ Applies in any altitude controlled flight mode. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 1.0 | 100.0 | 0.1 | 10.0 | s +  | 0.0 | 60.0 | 0.5 | 30.0 | deg ### FW_P_LIM_MIN (`FLOAT`) {#FW_P_LIM_MIN} @@ -17664,7 +17672,7 @@ Applies in any altitude controlled flight mode. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 1.0 | 10.0 | 0.1 | 1.5 | +  | -60.0 | 0.0 | 0.5 | -30.0 | deg ### FW_R_LIM (`FLOAT`) {#FW_R_LIM} @@ -17674,7 +17682,7 @@ Applies in any altitude controlled flight mode. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.00 | 2.00 | 0.05 | 0.5 | s +  | 35.0 | 65.0 | 0.5 | 50.0 | deg ### FW_THR_IDLE (`FLOAT`) {#FW_THR_IDLE} @@ -17684,7 +17692,7 @@ This is the minimum throttle while on the ground ("landed") in auto modes. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.1 | 1.0 | 0.01 | 0.32 | +  | 0.0 | 0.4 | 0.01 | 0.0 | norm ### FW_THR_MAX (`FLOAT`) {#FW_THR_MAX} @@ -17694,7 +17702,7 @@ Applies in any altitude controlled flight mode. Should be set accordingly to ach Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | | | | Enabled (1) | +  | 0.0 | 1.0 | 0.01 | 1.0 | norm ### FW_THR_MIN (`FLOAT`) {#FW_THR_MIN} @@ -17704,7 +17712,7 @@ Applies in any altitude controlled flight mode. Usually set to 0 but can be incr Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | | | | Enabled (1) | +  | 0.0 | 1.0 | 0.01 | 0.0 | norm ### FW_T_CLMB_R_SP (`FLOAT`) {#FW_T_CLMB_R_SP} @@ -17714,9 +17722,49 @@ In auto modes: default climb rate output by controller to achieve altitude setpo Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | | | | Enabled (1) | +  | 0.5 | 15 | 0.01 | 3.0 | m/s -## FW Path Control +### FW_T_SINK_R_SP (`FLOAT`) {#FW_T_SINK_R_SP} + +Default target sinkrate. + +In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.5 | 15 | 0.01 | 2.0 | m/s + +### FW_T_SPDWEIGHT (`FLOAT`) {#FW_T_SPDWEIGHT} + +Speed <--> Altitude weight. + +Adjusts the amount of weighting that the pitch control applies to speed vs height errors. 0 -> control height only 2 -> control speed only (gliders) + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 2.0 | 1.0 | 1.0 | + +### FW_WING_HEIGHT (`FLOAT`) {#FW_WING_HEIGHT} + +Height (AGL) of the wings when the aircraft is on the ground. + +This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m) + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | | 1 | 0.5 | m + +### FW_WING_SPAN (`FLOAT`) {#FW_WING_SPAN} + +The aircraft's wing span (length from tip to tip). + +This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span) + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.1 | | 0.1 | 3.0 | m + +## FW Lateral Control ### FW_PN_R_SLEW_MAX (`FLOAT`) {#FW_PN_R_SLEW_MAX} @@ -17748,7 +17796,7 @@ Maximum slew rate for the commanded throttle Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0 | 3 | | 2 | +  | 0.0 | 1.0 | 0.01 | 0.0 | ### FW_T_ALT_TC (`FLOAT`) {#FW_T_ALT_TC} @@ -17766,7 +17814,7 @@ Minimum altitude error needed to descend with max airspeed and minimal throttle. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 35.0 | 65.0 | 0.5 | 50.0 | deg +  | -1.0 | | | -1.0 | ### FW_T_HRATE_FF (`FLOAT`) {#FW_T_HRATE_FF} @@ -17774,7 +17822,221 @@ Height rate feed forward. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | -5.0 | 30.0 | 0.5 | 10.0 | deg +  | 0.0 | 1.0 | 0.05 | 0.3 | + +### FW_T_I_GAIN_PIT (`FLOAT`) {#FW_T_I_GAIN_PIT} + +Integrator gain pitch. + +Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 2.0 | 0.05 | 0.1 | + +### FW_T_PTCH_DAMP (`FLOAT`) {#FW_T_PTCH_DAMP} + +Pitch damping gain. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 2.0 | 0.1 | 0.1 | + +### FW_T_RLL2THR (`FLOAT`) {#FW_T_RLL2THR} + +Roll -> Throttle feedforward. + +Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 20.0 | 0.5 | 15.0 | + +### FW_T_SEB_R_FF (`FLOAT`) {#FW_T_SEB_R_FF} + +Specific total energy balance rate feedforward gain. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.5 | 3 | 0.01 | 1.0 | + +### FW_T_SINK_MAX (`FLOAT`) {#FW_T_SINK_MAX} + +Maximum descent rate. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 1.0 | 15.0 | 0.5 | 5.0 | m/s + +### FW_T_SPD_DEV_STD (`FLOAT`) {#FW_T_SPD_DEV_STD} + +Airspeed rate measurement standard deviation. + +For the airspeed filter in TECS. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2 + +### FW_T_SPD_PRC_STD (`FLOAT`) {#FW_T_SPD_PRC_STD} + +Process noise standard deviation for the airspeed rate. + +This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2 + +### FW_T_SPD_STD (`FLOAT`) {#FW_T_SPD_STD} + +Airspeed measurement standard deviation. + +For the airspeed filter in TECS. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.01 | 10.0 | 0.1 | 0.07 | m/s + +### FW_T_STE_R_TC (`FLOAT`) {#FW_T_STE_R_TC} + +Specific total energy rate first order filter time constant. + +This filter is applied to the specific total energy rate used for throttle damping. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 2 | 0.01 | 0.4 | + +### FW_T_TAS_TC (`FLOAT`) {#FW_T_TAS_TC} + +True airspeed error time constant. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 2.0 | | 0.5 | 5.0 | + +### FW_T_THR_DAMPING (`FLOAT`) {#FW_T_THR_DAMPING} + +Throttle damping factor. + +This is the damping gain for the throttle demand loop. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 1.0 | 0.01 | 0.05 | + +### FW_T_THR_INTEG (`FLOAT`) {#FW_T_THR_INTEG} + +Integrator gain throttle. + +Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.0 | 1.0 | 0.005 | 0.02 | + +### FW_T_THR_LOW_HGT (`FLOAT`) {#FW_T_THR_LOW_HGT} + +Low-height threshold for tighter altitude tracking. + +Height above ground threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. -1 to disable. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | -1 | | 1 | -1. | m + +### FW_T_VERT_ACC (`FLOAT`) {#FW_T_VERT_ACC} + +Maximum vertical acceleration. + +This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 1.0 | 10.0 | 0.5 | 7.0 | m/s^2 + +### FW_WIND_ARSP_SC (`FLOAT`) {#FW_WIND_ARSP_SC} + +Wind-based airspeed scaling factor. + +Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0 | | 0.01 | 0. | + +## FW NPFG Control + +### NPFG_DAMPING (`FLOAT`) {#NPFG_DAMPING} + +NPFG damping ratio. + +Damping ratio of NPFG control law. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.10 | 1.00 | 0.01 | 0.7 | + +### NPFG_LB_PERIOD (`INT32`) {#NPFG_LB_PERIOD} + +Enable automatic lower bound on the NPFG period. + +Avoids limit cycling from a too aggressively tuned period/damping combination. If false, also disables upper bound NPFG_PERIOD_UB. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | | | | Enabled (1) | + +### NPFG_PERIOD (`FLOAT`) {#NPFG_PERIOD} + +NPFG period. + +Period of NPFG control law. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 1.0 | 100.0 | 0.1 | 10.0 | s + +### NPFG_PERIOD_SF (`FLOAT`) {#NPFG_PERIOD_SF} + +Period safety factor. + +Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 1.0 | 10.0 | 0.1 | 1.5 | + +### NPFG_ROLL_TC (`FLOAT`) {#NPFG_ROLL_TC} + +Roll time constant. + +Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.00 | 2.00 | 0.05 | 0.5 | s + +### NPFG_SW_DST_MLT (`FLOAT`) {#NPFG_SW_DST_MLT} + +NPFG switch distance multiplier. + +Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | 0.1 | 1.0 | 0.01 | 0.32 | + +### NPFG_UB_PERIOD (`INT32`) {#NPFG_UB_PERIOD} + +Enable automatic upper bound on the NPFG period. + +Adapts period to maintain track keeping in variable winds and path curvature. + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | | | | Enabled (1) | ## FW Performance @@ -18024,26 +18286,6 @@ Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | ---   | -0.5 | 0.5 | 0.01 | 0.0 | -### FW_FLAPS_LND_SCL (`FLOAT`) {#FW_FLAPS_LND_SCL} - -Flaps setting during landing. - -Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.01 | 1.0 | norm - -### FW_FLAPS_TO_SCL (`FLOAT`) {#FW_FLAPS_TO_SCL} - -Flaps setting during take-off. - -Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.01 | 0.0 | norm - ### FW_MAN_P_SC (`FLOAT`) {#FW_MAN_P_SC} Manual pitch scale. @@ -18239,286 +18481,6 @@ Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | ---   | 0.0 | 10 | 0.005 | 0.05 | %/rad/s -## FW TECS - -### FW_GND_SPD_MIN (`FLOAT`) {#FW_GND_SPD_MIN} - -Minimum groundspeed. - -The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 40 | 0.5 | 5.0 | m/s - -### FW_P_LIM_MAX (`FLOAT`) {#FW_P_LIM_MAX} - -Maximum pitch angle setpoint. - -Applies in any altitude controlled flight mode. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 60.0 | 0.5 | 30.0 | deg - -### FW_P_LIM_MIN (`FLOAT`) {#FW_P_LIM_MIN} - -Minimum pitch angle setpoint. - -Applies in any altitude controlled flight mode. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | -60.0 | 0.0 | 0.5 | -30.0 | deg - -### FW_THR_IDLE (`FLOAT`) {#FW_THR_IDLE} - -Idle throttle. - -This is the minimum throttle while on the ground ("landed") in auto modes. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 0.4 | 0.01 | 0.0 | norm - -### FW_THR_MAX (`FLOAT`) {#FW_THR_MAX} - -Throttle limit max. - -Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.01 | 1.0 | norm - -### FW_THR_MIN (`FLOAT`) {#FW_THR_MIN} - -Throttle limit min. - -Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.01 | 0.0 | norm - -### FW_THR_SLEW_MAX (`FLOAT`) {#FW_THR_SLEW_MAX} - -Throttle max slew rate. - -Maximum slew rate for the commanded throttle - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.01 | 0.0 | - -### FW_TKO_AIRSPD (`FLOAT`) {#FW_TKO_AIRSPD} - -Takeoff Airspeed. - -The calibrated airspeed setpoint during the takeoff climbout. If set <= 0, FW_AIRSPD_MIN will be set by default. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | -1.0 | | 0.1 | -1.0 | m/s - -### FW_T_ALT_TC (`FLOAT`) {#FW_T_ALT_TC} - -Altitude error time constant. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 2.0 | | 0.5 | 5.0 | - -### FW_T_CLMB_R_SP (`FLOAT`) {#FW_T_CLMB_R_SP} - -Default target climbrate. - -In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.5 | 15 | 0.01 | 3.0 | m/s - -### FW_T_F_ALT_ERR (`FLOAT`) {#FW_T_F_ALT_ERR} - -Fast descend: minimum altitude error. - -Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | -1.0 | | | -1.0 | - -### FW_T_HRATE_FF (`FLOAT`) {#FW_T_HRATE_FF} - -Height rate feed forward. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.05 | 0.3 | - -### FW_T_I_GAIN_PIT (`FLOAT`) {#FW_T_I_GAIN_PIT} - -Integrator gain pitch. - -Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 2.0 | 0.05 | 0.1 | - -### FW_T_PTCH_DAMP (`FLOAT`) {#FW_T_PTCH_DAMP} - -Pitch damping gain. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 2.0 | 0.1 | 0.1 | - -### FW_T_RLL2THR (`FLOAT`) {#FW_T_RLL2THR} - -Roll -> Throttle feedforward. - -Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 20.0 | 0.5 | 15.0 | - -### FW_T_SEB_R_FF (`FLOAT`) {#FW_T_SEB_R_FF} - -Specific total energy balance rate feedforward gain. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.5 | 3 | 0.01 | 1.0 | - -### FW_T_SINK_MAX (`FLOAT`) {#FW_T_SINK_MAX} - -Maximum descent rate. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 1.0 | 15.0 | 0.5 | 5.0 | m/s - -### FW_T_SINK_R_SP (`FLOAT`) {#FW_T_SINK_R_SP} - -Default target sinkrate. - -In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.5 | 15 | 0.01 | 2.0 | m/s - -### FW_T_SPDWEIGHT (`FLOAT`) {#FW_T_SPDWEIGHT} - -Speed <--> Altitude weight. - -Adjusts the amount of weighting that the pitch control applies to speed vs height errors. 0 -> control height only 2 -> control speed only (gliders) - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 2.0 | 1.0 | 1.0 | - -### FW_T_SPD_DEV_STD (`FLOAT`) {#FW_T_SPD_DEV_STD} - -Airspeed rate measurement standard deviation. - -For the airspeed filter in TECS. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2 - -### FW_T_SPD_PRC_STD (`FLOAT`) {#FW_T_SPD_PRC_STD} - -Process noise standard deviation for the airspeed rate. - -This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2 - -### FW_T_SPD_STD (`FLOAT`) {#FW_T_SPD_STD} - -Airspeed measurement standard deviation. - -For the airspeed filter in TECS. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.01 | 10.0 | 0.1 | 0.07 | m/s - -### FW_T_STE_R_TC (`FLOAT`) {#FW_T_STE_R_TC} - -Specific total energy rate first order filter time constant. - -This filter is applied to the specific total energy rate used for throttle damping. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 2 | 0.01 | 0.4 | - -### FW_T_TAS_TC (`FLOAT`) {#FW_T_TAS_TC} - -True airspeed error time constant. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 2.0 | | 0.5 | 5.0 | - -### FW_T_THR_DAMPING (`FLOAT`) {#FW_T_THR_DAMPING} - -Throttle damping factor. - -This is the damping gain for the throttle demand loop. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.01 | 0.05 | - -### FW_T_THR_INTEG (`FLOAT`) {#FW_T_THR_INTEG} - -Integrator gain throttle. - -Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 1.0 | 0.005 | 0.02 | - -### FW_T_THR_LOW_HGT (`FLOAT`) {#FW_T_THR_LOW_HGT} - -Low-height threshold for tighter altitude tracking. - -Height above ground threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. -1 to disable. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | -1 | | 1 | -1. | m - -### FW_T_VERT_ACC (`FLOAT`) {#FW_T_VERT_ACC} - -Maximum vertical acceleration. - -This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 1.0 | 10.0 | 0.5 | 7.0 | m/s^2 - -### FW_WIND_ARSP_SC (`FLOAT`) {#FW_WIND_ARSP_SC} - -Wind-based airspeed scaling factor. - -Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0 | | 0.01 | 0. | - ## Failure Detector ### FD_ACT_EN (`INT32`) {#FD_ACT_EN} @@ -23320,26 +23282,6 @@ Reboot | minValue | maxValue | increment | default | unit ## Mission -### FW_GPSF_LT (`INT32`) {#FW_GPSF_LT} - -GPS failure loiter time. - -The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0 | 3600 | | 30 | s - -### FW_GPSF_R (`FLOAT`) {#FW_GPSF_R} - -GPS failure fixed roll angle. - -Roll angle in GPS failure loiter mode. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0.0 | 30.0 | 0.5 | 15.0 | deg - ### MIS_COMMAND_TOUT (`FLOAT`) {#MIS_COMMAND_TOUT} Timeout to allow the payload to execute the mission command. @@ -23989,7 +23931,7 @@ Limits the acceleration of the yaw setpoint to avoid large control output and mi Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 5 | 360 | 5 | 60. | deg/s^2 +  | 5 | 360 | 5 | 20. | deg/s^2 ### MPC_YAWRAUTO_MAX (`FLOAT`) {#MPC_YAWRAUTO_MAX} @@ -23999,7 +23941,7 @@ Limits the rate of change of the yaw setpoint to avoid large control output and Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 5 | 360 | 5 | 45. | deg/s +  | 5 | 360 | 5 | 60. | deg/s ## Multicopter Position Control @@ -28104,22 +28046,6 @@ Reboot | minValue | maxValue | increment | default | unit ## Runway Takeoff -### RWTO_HDG (`INT32`) {#RWTO_HDG} - -Specifies which heading should be held during the runway takeoff ground roll. - -0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator) - -**Values:** - -- `0`: Airframe -- `1`: Runway - - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 0 | 1 | | 0 | - ### RWTO_MAX_THR (`FLOAT`) {#RWTO_MAX_THR} Throttle during runway takeoff. @@ -28128,14 +28054,6 @@ Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | ---   | 0.0 | 1.0 | 0.01 | 1.0 | norm -### RWTO_NPFG_PERIOD (`FLOAT`) {#RWTO_NPFG_PERIOD} - -NPFG period while steering on runway. - -Reboot | minValue | maxValue | increment | default | unit ---- | --- | --- | --- | --- | --- -  | 1.0 | 100.0 | 0.1 | 5.0 | s - ### RWTO_NUDGE (`INT32`) {#RWTO_NUDGE} Enable use of yaw stick for nudging the wheel during runway ground roll. @@ -28311,7 +28229,7 @@ This integer bitmask controls the set and rates of logged topics. The default al Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -✓ | 0 | 2047 | | 1 | +✓ | 0 | 4095 | | 1 | ### SDLOG_UTC_OFFSET (`INT32`) {#SDLOG_UTC_OFFSET} @@ -30788,7 +30706,7 @@ INA226 Power Monitor Config. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0 | 65535 | 1 | 18139 | +✓ | 0 | 65535 | 1 | 18139 | ### INA226_CURRENT (`FLOAT`) {#INA226_CURRENT} @@ -30796,7 +30714,7 @@ INA226 Power Monitor Max Current. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.1 | 200.0 | 0.1 | 164.0 | +✓ | 0.1 | 200.0 | 0.1 | 164.0 | ### INA226_SHUNT (`FLOAT`) {#INA226_SHUNT} @@ -30804,7 +30722,7 @@ INA226 Power Monitor Shunt. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.000000001 | 0.1 | .000000001 | 0.0005 | +✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 | ### INA228_CONFIG (`INT32`) {#INA228_CONFIG} @@ -30812,7 +30730,7 @@ INA228 Power Monitor Config. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0 | 65535 | 1 | 63779 | +✓ | 0 | 65535 | 1 | 63779 | ### INA228_CURRENT (`FLOAT`) {#INA228_CURRENT} @@ -30820,7 +30738,7 @@ INA228 Power Monitor Max Current. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.1 | 327.68 | 0.1 | 327.68 | +✓ | 0.1 | 327.68 | 0.1 | 327.68 | ### INA228_SHUNT (`FLOAT`) {#INA228_SHUNT} @@ -30828,7 +30746,7 @@ INA228 Power Monitor Shunt. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.000000001 | 0.1 | .000000001 | 0.0005 | +✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 | ### INA238_CURRENT (`FLOAT`) {#INA238_CURRENT} @@ -30836,7 +30754,7 @@ INA238 Power Monitor Max Current. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.1 | 327.68 | 0.1 | 327.68 | +✓ | 0.1 | 327.68 | 0.1 | 327.68 | ### INA238_SHUNT (`FLOAT`) {#INA238_SHUNT} @@ -30844,7 +30762,7 @@ INA238 Power Monitor Shunt. Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- -  | 0.000000001 | 0.1 | .000000001 | 0.0003 | +✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 | ### PCF8583_MAGNET (`INT32`) {#PCF8583_MAGNET} @@ -30952,6 +30870,16 @@ Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | ---   | 1 | 200 | | 20.0 | Hz +### SENS_BAR_AUTOCAL (`INT32`) {#SENS_BAR_AUTOCAL} + +Barometer auto calibration. + +Automatically calibrate barometer based on the GNSS height + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +  | | | | Disabled (0) | + ### SENS_BOARD_ROT (`INT32`) {#SENS_BOARD_ROT} Board rotation. @@ -36304,6 +36232,28 @@ Reboot | minValue | maxValue | increment | default | unit --- | --- | --- | --- | --- | --- ✓ | 0 | 3 | | 0 | +### UAVCAN_ESC_IFACE (`INT32`) {#UAVCAN_ESC_IFACE} + +Which CAN interfaces to output ESC messages on. + +Since ESC messages are high priority and sent at a high rate, it is recommended to only enable the interfaces that are actually used. Otherwise, the ESC messages will arbitrate lower priority messages and starve other nodes on the bus. + +**Bitmask:** + +- `0`: CAN1 +- `1`: CAN2 +- `2`: CAN3 +- `3`: CAN4 +- `4`: CAN5 +- `5`: CAN6 +- `6`: CAN7 +- `7`: CAN8 + + +Reboot | minValue | maxValue | increment | default | unit +--- | --- | --- | --- | --- | --- +✓ | 1 | 255 | | 255 | + ### UAVCAN_LGT_ANTCL (`INT32`) {#UAVCAN_LGT_ANTCL} UAVCAN ANTI_COLLISION light operating mode.