PX4开发指南-13.5.2.参考参数(二)

PX4开发指南-13.5.2参考参数(二)

该列表是从源代码自动生成的,并包含最新的参数文档(这取代了固件参数文档。)

EKF2

  • 定义这些参数的模块是:src/modules/ekf2
NameDescriptionMin > Max (Incr.)DefaultUnits
EKF2_MIN_OBS_DT (INT32)

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

10 > 50 20 ms
EKF2_MAG_DELAY (FLOAT)

Magnetometer measurement delay relative to IMU measurements

0 > 300 0 ms
EKF2_BARO_DELAY (FLOAT)

Barometer measurement delay relative to IMU measurements

0 > 300 0 ms
EKF2_GPS_DELAY (FLOAT)

GPS measurement delay relative to IMU measurements

0 > 300 200 ms
EKF2_OF_DELAY (FLOAT)

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

0 > 300 5 ms
EKF2_RNG_DELAY (FLOAT)

Range finder measurement delay relative to IMU measurements

0 > 300 5 ms
EKF2_ASP_DELAY (FLOAT)

Airspeed measurement delay relative to IMU measurements

0 > 300 200 ms
EKF2_EV_DELAY (FLOAT)

Vision Position Estimator delay relative to IMU measurements

0 > 300 175 ms
EKF2_GPS_CHECK (INT32)

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

Bitmask:
  • 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)
0 > 511 21
EKF2_REQ_EPH (FLOAT)

Required EPH to use GPS

2 > 100 5.0 m
EKF2_REQ_EPV (FLOAT)

Required EPV to use GPS

2 > 100 8.0 m
EKF2_REQ_SACC (FLOAT)

Required speed accuracy to use GPS

0.5 > 5.0 1.0 m/s
EKF2_REQ_NSATS (INT32)

Required satellite count to use GPS

4 > 12 6
EKF2_REQ_GDOP (FLOAT)

Required GDoP to use GPS

1.5 > 5.0 2.5
EKF2_REQ_HDRIFT (FLOAT)

Maximum horizontal drift speed to use GPS

0.1 > 1.0 0.3 m/s
EKF2_REQ_VDRIFT (FLOAT)

Maximum vertical drift speed to use GPS

0.1 > 1.5 0.5 m/s
EKF2_GYR_NOISE (FLOAT)

Rate gyro noise for covariance prediction

0.0001 > 0.1 1.5e-2 rad/s
EKF2_ACC_NOISE (FLOAT)

Accelerometer noise for covariance prediction

0.01 > 1.0 3.5e-1 m/s/s
EKF2_GYR_B_NOISE (FLOAT)

Process noise for IMU rate gyro bias prediction

0.0 > 0.01 1.0e-3 rad/s**2
EKF2_ACC_B_NOISE (FLOAT)

Process noise for IMU accelerometer bias prediction

0.0 > 0.01 3.0e-3 m/s**3
EKF2_MAG_B_NOISE (FLOAT)

Process noise for body magnetic field prediction

0.0 > 0.1 1.0e-4 Gauss/s
EKF2_MAG_E_NOISE (FLOAT)

Process noise for earth magnetic field prediction

0.0 > 0.1 1.0e-3 Gauss/s
EKF2_WIND_NOISE (FLOAT)

Process noise for wind velocity prediction

0.0 > 1.0 1.0e-1 m/s/s
EKF2_GPS_V_NOISE (FLOAT)

Measurement noise for gps horizontal velocity

0.01 > 5.0 0.5 m/s
EKF2_GPS_P_NOISE (FLOAT)

Measurement noise for gps position

0.01 > 10.0 0.5 m
EKF2_NOAID_NOISE (FLOAT)

Measurement noise for non-aiding position hold

0.5 > 50.0 10.0 m
EKF2_BARO_NOISE (FLOAT)

Measurement noise for barometric altitude

0.01 > 15.0 2.0 m
EKF2_HEAD_NOISE (FLOAT)

Measurement noise for magnetic heading fusion

0.01 > 1.0 0.3 rad
EKF2_MAG_NOISE (FLOAT)

Measurement noise for magnetometer 3-axis fusion

0.001 > 1.0 5.0e-2 Gauss
EKF2_EAS_NOISE (FLOAT)

Measurement noise for airspeed fusion

0.5 > 5.0 1.4 m/s
EKF2_BETA_NOISE (FLOAT)

Noise for synthetic sideslip fusion

0.1 > 1.0 0.3 m/s
EKF2_MAG_DECL (FLOAT)

Magnetic declination

0 deg
EKF2_HDG_GATE (FLOAT)

Gate size for magnetic heading fusion

1.0 > ? 2.6 SD
EKF2_MAG_GATE (FLOAT)

Gate size for magnetometer XYZ component fusion

1.0 > ? 3.0 SD
EKF2_DECL_TYPE (INT32)

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.

Bitmask:
  • 0: use geo_lookup declination
  • 1: save EKF2_MAG_DECL on disarm
  • 2: use declination as an observation
0 > 7 7
EKF2_MAG_TYPE (INT32)

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

Values:
  • 0: Automatic
  • 1: Magnetic heading
  • 2: 3-axis fusion
  • 3: None
0
EKF2_BARO_GATE (FLOAT)

Gate size for barometric height fusion

1.0 > ? 5.0 SD
EKF2_GPS_P_GATE (FLOAT)

Gate size for GPS horizontal position fusion

1.0 > ? 5.0 SD
EKF2_GPS_V_GATE (FLOAT)

Gate size for GPS velocity fusion

1.0 > ? 5.0 SD
EKF2_TAS_GATE (FLOAT)

Gate size for TAS fusion

1.0 > ? 3.0 SD
EKF2_REC_RPL (INT32)

Replay mode

Comment: A value of 1 indicates that the ekf2 module will publish replay messages for logging.

0
EKF2_AID_MASK (INT32)

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

Bitmask:
  • 0: use GPS
  • 1: use optical flow
  • 2: inhibit IMU bias estimation
  • 3: vision position fusion
  • 4: vision yaw fusion
0 > 28 1
EKF2_HGT_MODE (INT32)

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.

Values:
  • 0: Barometric pressure
  • 1: GPS
  • 2: Range sensor
  • 3: Vision
0
EKF2_RNG_NOISE (FLOAT)

Measurement noise for range finder fusion

0.01 > ? 0.1 m
EKF2_RNG_GATE (FLOAT)

Gate size for range finder fusion

1.0 > ? 5.0 SD
EKF2_MIN_RNG (FLOAT)

Minimum valid range for the range finder

0.01 > ? 0.1 m
EKF2_EVP_NOISE (FLOAT)

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

0.01 > ? 0.05 m
EKF2_EVA_NOISE (FLOAT)

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

0.01 > ? 0.05 rad
EKF2_EV_GATE (FLOAT)

Gate size for vision estimate fusion

1.0 > ? 5.0 SD
EKF2_MIN_EV (FLOAT)

Minimum valid range for the vision estimate

0.01 > ? 0.01 m
EKF2_OF_N_MIN (FLOAT)

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

0.05 > ? 0.15 rad/s
EKF2_OF_N_MAX (FLOAT)

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

0.05 > ? 0.5 rad/s
EKF2_OF_QMIN (INT32)

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

0 > 255 1
EKF2_OF_GATE (FLOAT)

Gate size for optical flow fusion

1.0 > ? 3.0 SD
EKF2_OF_RMAX (FLOAT)

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

1.0 > ? 2.5 rad/s
EKF2_TERR_NOISE (FLOAT)

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

0.5 > ? 5.0 m/s
EKF2_TERR_GRAD (FLOAT)

Magnitude of terrain gradient

0.0 > ? 0.5 m/m
EKF2_IMU_POS_X (FLOAT)

X position of IMU in body frame

0.0 m
EKF2_IMU_POS_Y (FLOAT)

Y position of IMU in body frame

0.0 m
EKF2_IMU_POS_Z (FLOAT)

Z position of IMU in body frame

0.0 m
EKF2_GPS_POS_X (FLOAT)

X position of GPS antenna in body frame

0.0 m
EKF2_GPS_POS_Y (FLOAT)

Y position of GPS antenna in body frame

0.0 m
EKF2_GPS_POS_Z (FLOAT)

Z position of GPS antenna in body frame

0.0 m
EKF2_RNG_POS_X (FLOAT)

X position of range finder origin in body frame

0.0 m
EKF2_RNG_POS_Y (FLOAT)

Y position of range finder origin in body frame

0.0 m
EKF2_RNG_POS_Z (FLOAT)

Z position of range finder origin in body frame

0.0 m
EKF2_OF_POS_X (FLOAT)

X position of optical flow focal point in body frame

0.0 m
EKF2_OF_POS_Y (FLOAT)

Y position of optical flow focal point in body frame

0.0 m
EKF2_OF_POS_Z (FLOAT)

Z position of optical flow focal point in body frame

0.0 m
EKF2_EV_POS_X (FLOAT)

X position of VI sensor focal point in body frame

0.0 m
EKF2_EV_POS_Y (FLOAT)

Y position of VI sensor focal point in body frame

0.0 m
EKF2_EV_POS_Z (FLOAT)

Z position of VI sensor focal point in body frame

0.0 m
EKF2_ARSP_THR (FLOAT)

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

0.0 > ? 0.0 m/s
EKF2_FUSE_BETA (INT32)

Boolean determining if synthetic sideslip measurements should fused

Comment: A value of 1 indicates that fusion is active

0
EKF2_TAU_VEL (FLOAT)

Time constant of the velocity output prediction and smoothing filter

? > 1.0 0.25 s
EKF2_TAU_POS (FLOAT)

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

0.1 > 1.0 0.25 s
EKF2_GBIAS_INIT (FLOAT)

1-sigma IMU gyro switch-on bias

0.0 > 0.2 0.1 rad/sec
EKF2_ABIAS_INIT (FLOAT)

1-sigma IMU accelerometer switch-on bias

0.0 > 0.5 0.2 m/s/s
EKF2_ANGERR_INIT (FLOAT)

1-sigma tilt angle uncertainty after gravity vector alignment

0.0 > 0.5 0.1 rad
EKF2_RNG_PITCH (FLOAT)

Range sensor pitch offset

-0.75 > 0.75 0.0 rad

FW Attitude Control

  • 定义这些参数的模块是:src/modules/fw_att_control
NameDescriptionMin > Max (Incr.)DefaultUnits
FW_R_TC (FLOAT)

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.

0.4 > 1.0 (0.05) 0.4 s
FW_P_TC (FLOAT)

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.

0.2 > 1.0 (0.05) 0.4 s
FW_PR_P (FLOAT)

Pitch rate proportional gain

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

0.005 > 1.0 (0.005) 0.08 %/rad/s
FW_PR_I (FLOAT)

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.

0.005 > 0.5 (0.005) 0.02 %/rad
FW_P_RMAX_POS (FLOAT)

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.

0.0 > 90.0 (0.5) 60.0 deg/s
FW_P_RMAX_NEG (FLOAT)

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.

0.0 > 90.0 (0.5) 60.0 deg/s
FW_PR_IMAX (FLOAT)

Pitch rate integrator limit

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

0.0 > 1.0 (0.05) 0.4
FW_RR_P (FLOAT)

Roll rate proportional Gain

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

0.005 > 1.0 (0.005) 0.05 %/rad/s
FW_RR_I (FLOAT)

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.

0.005 > 0.2 (0.005) 0.01 %/rad
FW_RR_IMAX (FLOAT)

Roll Integrator Anti-Windup

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

0.0 > 1.0 (0.05) 0.2
FW_R_RMAX (FLOAT)

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.

0.0 > 90.0 (0.5) 70.0 deg/s
FW_YR_P (FLOAT)

Yaw rate proportional gain

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

0.005 > 1.0 (0.005) 0.05 %/rad/s
FW_YR_I (FLOAT)

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.

0.0 > 50.0 (0.5) 0.0 %/rad
FW_YR_IMAX (FLOAT)

Yaw rate integrator limit

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

0.0 > 1.0 (0.05) 0.2
FW_Y_RMAX (FLOAT)

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.

0.0 > 90.0 (0.5) 0.0 deg/s
FW_RLL_TO_YAW_FF (FLOAT)

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.

0.0 > ? (0.01) 0.0
FW_W_EN (INT32)

Enable wheel steering controller

0
FW_WR_P (FLOAT)

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.

0.005 > 1.0 (0.005) 0.5 %/rad/s
FW_WR_I (FLOAT)

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.

0.005 > 0.5 (0.005) 0.1 %/rad
FW_WR_IMAX (FLOAT)

Wheel steering rate integrator limit

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

0.0 > 1.0 (0.05) 1.0
FW_W_RMAX (FLOAT)

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.

0.0 > 90.0 (0.5) 0.0 deg/s
FW_RR_FF (FLOAT)

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.

0.0 > 10.0 (0.05) 0.5 %/rad/s
FW_PR_FF (FLOAT)

Pitch rate feed forward

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

0.0 > 10.0 (0.05) 0.5 %/rad/s
FW_YR_FF (FLOAT)

Yaw rate feed forward

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

0.0 > 10.0 (0.05) 0.3 %/rad/s
FW_WR_FF (FLOAT)

Wheel steering rate feed forward

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

0.0 > 10.0 (0.05) 0.2 %/rad/s
FW_YCO_VMIN (FLOAT)

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.

0.0 > 1000.0 (0.5) 1000.0 m/s
FW_YCO_METHOD (INT32)

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

Values:
  • 0: open-loop
  • 1: closed-loop
0 > 1 0
FW_RSP_OFF (FLOAT)

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.

-90.0 > 90.0 (0.5) 0.0 deg
FW_PSP_OFF (FLOAT)

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.

-90.0 > 90.0 (0.5) 0.0 deg
FW_MAN_R_MAX (FLOAT)

Max Manual Roll

Comment: Max roll for manual control in attitude stabilized mode

0.0 > 90.0 (0.5) 45.0 deg
FW_MAN_P_MAX (FLOAT)

Max Manual Pitch

Comment: Max pitch for manual control in attitude stabilized mode

0.0 > 90.0 (0.5) 45.0 deg
FW_FLAPS_SCL (FLOAT)

Scale factor for flaps

0.0 > 1.0 (0.01) 1.0 norm
FW_FLAPERON_SCL (FLOAT)

Scale factor for flaperons

0.0 > 1.0 (0.01) 0.0 norm
FW_ARSP_MODE (INT32)

Airspeed mode

Comment: The param value sets the method used to publish the control state airspeed. For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading

Values:
  • 0: use measured airspeed
  • 1: use vehicle ground velocity as airspeed
  • 2: declare airspeed invalid
0 > 2 0
FW_MAN_R_SC (FLOAT)

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.

0.0 > 1.0 (0.01) 1.0 norm
FW_MAN_P_SC (FLOAT)

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.

0.0 > ? (0.01) 1.0 norm
FW_MAN_Y_SC (FLOAT)

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.

0.0 > ? (0.01) 1.0 norm
FW_BAT_SCALE_EN (INT32)

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.

0
FW_ACRO_X_MAX (FLOAT)

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.

45 > 720 90 degrees
FW_ACRO_Y_MAX (FLOAT)

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.

45 > 720 90 degrees
FW_ACRO_Z_MAX (FLOAT)

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.

10 > 180 45 degrees
FW_RATT_TH (FLOAT)

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

0.0 > 1.0 (0.01) 0.8

FW L1 Control

  • 定义这些参数的模块是:src/modules/fw_pos_control_l1
NameDescriptionMin > Max (Incr.)DefaultUnits
FW_L1_PERIOD (FLOAT)

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.

12.0 > 50.0 (0.5) 20.0 m
FW_L1_DAMPING (FLOAT)

L1 damping

Comment: Damping factor for L1 control.

0.6 > 0.9 (0.05) 0.75
FW_THR_CRUISE (FLOAT)

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.

0.0 > 1.0 (0.01) 0.6 norm
FW_THR_SLEW_MAX (FLOAT)

Throttle max slew rate

Comment: Maximum slew rate for the commanded throttle

0.0 > 1.0 0.0
FW_P_LIM_MIN (FLOAT)

Negative pitch limit

Comment: The minimum negative pitch the controller will output.

-60.0 > 0.0 (0.5) -45.0 deg
FW_P_LIM_MAX (FLOAT)

Positive pitch limit

Comment: The maximum positive pitch the controller will output.

0.0 > 60.0 (0.5) 45.0 deg
FW_R_LIM (FLOAT)

Controller roll limit

Comment: The maximum roll the controller will output.

35.0 > 65.0 (0.5) 50.0 deg
FW_THR_MAX (FLOAT)

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.

0.0 > 1.0 (0.01) 1.0 norm
FW_THR_MIN (FLOAT)

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.

0.0 > 1.0 (0.01) 0.0 norm
FW_THR_IDLE (FLOAT)

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.

0.0 > 0.4 (0.01) 0.15 norm
FW_THR_LND_MAX (FLOAT)

Throttle limit value before flare

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

0.0 > 1.0 (0.01) 1.0 norm
FW_CLMBOUT_DIFF (FLOAT)

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).

0.0 > 150.0 (0.5) 10.0 m
FW_LND_ANG (FLOAT)

Landing slope angle

1.0 > 15.0 (0.5) 5.0 deg
FW_LND_HVIRT (FLOAT)

1.0 > 15.0 (0.5) 10.0 m
FW_LND_FLALT (FLOAT)

Landing flare altitude (relative to landing altitude)

0.0 > 25.0 (0.5) 8.0 m
FW_LND_TLALT (FLOAT)

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.

-1.0 > 30.0 (0.5) -1.0 m
FW_LND_HHDIST (FLOAT)

Landing heading hold horizontal distance

0 > 30.0 (0.5) 15.0 m
FW_LND_USETER (INT32)

Use terrain estimate during landing

0
FW_LND_FL_PMIN (FLOAT)

Flare, minimum pitch

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

0 > 15.0 (0.5) 2.5 deg
FW_LND_FL_PMAX (FLOAT)

Flare, maximum pitch

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

0 > 45.0 (0.5) 15.0 deg
FW_LND_AIRSPD_SC (FLOAT)

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

1.0 > 1.5 (0.01) 1.3 norm

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