PX4开发指南-13.5.3.参考参数(三)

FW TECS

NameDescriptionMin > Max (Incr.)DefaultUnits
FW_AIRSPD_MIN (FLOAT)

Minimum Airspeed

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

Module: src/modules/fw_pos_control_l1

0.0 > 40 (0.5) 10.0 m/s
FW_AIRSPD_MAX (FLOAT)

Maximum Airspeed

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

Module: src/modules/fw_pos_control_l1

0.0 > 40 (0.5) 20.0 m/s
FW_T_CLMB_MAX (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 15.0 (0.5) 5.0 m/s
FW_T_SINK_MIN (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 5.0 (0.5) 2.0 m/s
FW_T_SINK_MAX (FLOAT)

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: src/modules/fw_pos_control_l1

2.0 > 15.0 (0.5) 5.0 m/s
FW_T_TIME_CONST (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 5.0 s
FW_T_THRO_CONST (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 8.0 s
FW_T_THR_DAMP (FLOAT)

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: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.1) 0.5
FW_T_INTEG_GAIN (FLOAT)

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: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.05) 0.1
FW_T_VERT_ACC (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 7.0 m/s/s
FW_T_HGT_OMEGA (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 3.0 rad/s
FW_T_SPD_OMEGA (FLOAT)

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: src/modules/fw_pos_control_l1

1.0 > 10.0 (0.5) 2.0 rad/s
FW_T_RLL2THR (FLOAT)

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: src/modules/fw_pos_control_l1

0.0 > 20.0 (0.5) 15.0
FW_T_SPDWEIGHT (FLOAT)

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: src/modules/fw_pos_control_l1

0.0 > 2.0 (1.0) 1.0
FW_T_PTCH_DAMP (FLOAT)

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: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.1) 0.0
FW_T_HRATE_P (FLOAT)

Height rate proportional factor

Module: src/modules/fw_pos_control_l1

0.0 > 1.0 (0.05) 0.05
FW_T_HRATE_FF (FLOAT)

Height rate feed forward

Module: src/modules/fw_pos_control_l1

0.0 > 1.0 (0.05) 0.8
FW_T_SRATE_P (FLOAT)

Speed rate P factor

Module: src/modules/fw_pos_control_l1

0.0 > 2.0 (0.01) 0.02
FW_AIRSPD_TRIM (FLOAT)

Cruise Airspeed

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

Module: src/modules/navigator

0.0 > 40 (0.5) 15.0 m/s

Follow target

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

Minimum follow target altitude

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

8.0 > ? 8.0 meters
NAV_FT_DST (FLOAT)

Distance to follow target from

Comment: The distance in meters to follow the target at

1.0 > ? 8.0 meters
NAV_FT_FS (INT32)

Side to follow target from

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

0 > 3 1 n/a
NAV_FT_RS (FLOAT)

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

0.0 > 1.0 0.5 n/a

GPS

  • 定义这些参数的模块是:src/drivers/gps
NameDescriptionMin > Max (Incr.)DefaultUnits
GPS_DUMP_COMM (INT32)

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.

Values:
  • 0: Disable
  • 1: Enable
0 > 1 0

GPS Failure Navigation

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

Loiter time

Comment: The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination.

0.0 > 3600.0 (1) 30.0 s
NAV_GPSF_R (FLOAT)

Open loop loiter roll

Comment: Roll in degrees during the open loop loiter

0.0 > 30.0 (0.5) 15.0 deg
NAV_GPSF_P (FLOAT)

Open loop loiter pitch

Comment: Pitch in degrees during the open loop loiter

-30.0 > 30.0 (0.5) 0.0 deg
NAV_GPSF_TR (FLOAT)

Open loop loiter thrust

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

0.0 > 1.0 (0.05) 0.7 norm

Geofence

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

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.

Values:
  • 0: None
  • 1: Warning
  • 2: Loiter
  • 3: Return to Land
  • 4: Flight terminate
0 > 4 1
GF_ALTMODE (INT32)

Geofence altitude mode

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

Values:
  • 0: WGS84
  • 1: AMSL
0 > 1 0
GF_SOURCE (INT32)

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

Values:
  • 0: GPOS
  • 1: GPS
0 > 1 0
GF_COUNT (INT32)

Geofence counter limit

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

-1 > 10 (1) -1
GF_MAX_HOR_DIST (FLOAT)

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.

0 > 10000 (1) 0 m
GF_MAX_VER_DIST (FLOAT)

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.

0 > 10000 (1) 0 m

Iridium SBD

  • 定义这些参数的模块是:src/drivers/iridiumsbd
NameDescriptionMin > Max (Incr.)DefaultUnits
ISBD_READINT (INT32)

Satellite radio read interval

0 > 300 10 s

Land Detector

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

Multicopter max climb rate

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

0.70 m/s
LNDMC_XY_VEL_MAX (FLOAT)

Multicopter max horizontal velocity

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

1.50 m/s
LNDMC_ROT_MAX (FLOAT)

Multicopter max rotation

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

20.0 deg/s
LNDMC_FFALL_THR (FLOAT)

Multicopter specific force threshold

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

0.1 > 10 2.0 m/s^2
LNDMC_THR_RANGE (FLOAT)

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.

0.05 > 0.5 0.1
LNDMC_FFALL_TTRI (FLOAT)

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

0.02 > 5 0.3 s
LNDMC_MAN_DWNTHR (FLOAT)

Manual flight stick down threshold for landing

Comment: When controlling manually the throttle stick value (0 to 1) has to be bellow this threshold in order to pass the check for landing. So if set to 1 it's allowed to land with any stick position.

0 > 1 0.15 norm
LNDMC_POS_UPTHR (FLOAT)

Manual position flight stick up threshold for taking off

Comment: When controlling manually in position mode the throttle stick value (0 to 1) has to get above this threshold after arming in order to take off.

0 > 1 0.65 norm
LNDFW_VEL_XY_MAX (FLOAT)

Fixedwing max horizontal velocity

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

0.5 > 10 5.0 m/s
LNDFW_VEL_Z_MAX (FLOAT)

Fixedwing max climb rate

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

5 > 20 10.0 m/s
LNDFW_VELI_MAX (FLOAT)

Fixedwing max short-term velocity

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

2 > 10 4.0 m/s
LNDFW_AIRSPD_MAX (FLOAT)

Airspeed max

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

4 > 20 8.00 m/s
LND_FLIGHT_T_HI (INT32)

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.

0 > ? 0
LND_FLIGHT_T_LO (INT32)

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.

0 > ? 0
LNDMC_ALT_MAX (FLOAT)

Maximum altitude that can be reached prior to subconditions

10 > 150 100.0 m

Launch detection

  • 定义这些参数的模块是:src/lib/launchdetection
NameDescriptionMin > Max (Incr.)DefaultUnits
LAUN_ALL_ON (INT32)

Launch detection

0
LAUN_CAT_A (FLOAT)

Catapult accelerometer threshold

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

0 > ? (0.5) 30.0 m/s/s
LAUN_CAT_T (FLOAT)

Catapult time threshold

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

0.0 > 5.0 (0.05) 0.05 s
LAUN_CAT_MDEL (FLOAT)

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

0.0 > 10.0 (0.5) 0.0 s
LAUN_CAT_PMAX (FLOAT)

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).

0.0 > 45.0 (0.5) 30.0 deg

Local Position Estimator

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

Optical flow z offset from center

-1 > 1 0.0 m
LPE_FLW_SCALE (FLOAT)

Optical flow scale

0.1 > 10.0 1.3 m
LPE_FLW_R (FLOAT)

Optical flow rotation (roll/pitch) noise gain

0.1 > 10.0 7.0 m/s / (rad)
LPE_FLW_RR (FLOAT)

Optical flow angular velocity noise gain

0.0 > 10.0 7.0 m/s / (rad/s)
LPE_FLW_QMIN (INT32)

Optical flow minimum quality threshold

0 > 255 150
LPE_SNR_Z (FLOAT)

Sonar z standard deviation

0.01 > 1 0.05 m
LPE_SNR_OFF_Z (FLOAT)

Sonar z offset from center of vehicle +down

-1 > 1 0.00 m
LPE_LDR_Z (FLOAT)

Lidar z standard deviation

0.01 > 1 0.03 m
LPE_LDR_OFF_Z (FLOAT)

Lidar z offset from center of vehicle +down

-1 > 1 0.00 m
LPE_ACC_XY (FLOAT)

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.

0.00001 > 2 0.012 m/s^2/srqt(Hz)
LPE_ACC_Z (FLOAT)

Accelerometer z noise density

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

0.00001 > 2 0.02 m/s^2/srqt(Hz)
LPE_BAR_Z (FLOAT)

Barometric presssure altitude z standard deviation

0.01 > 100 3.0 m
LPE_GPS_DELAY (FLOAT)

GPS delay compensaton

0 > 0.4 0.29 sec
LPE_GPS_XY (FLOAT)

Minimum GPS xy standard deviation, uses reported EPH if greater

0.01 > 5 1.0 m
LPE_GPS_Z (FLOAT)

Minimum GPS z standard deviation, uses reported EPV if greater

0.01 > 200 3.0 m
LPE_GPS_VXY (FLOAT)

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

0.01 > 2 0.25 m/s
LPE_GPS_VZ (FLOAT)

GPS z velocity standard deviation

0.01 > 2 0.25 m/s
LPE_EPH_MAX (FLOAT)

Max EPH allowed for GPS initialization

1.0 > 5.0 3.0 m
LPE_EPV_MAX (FLOAT)

Max EPV allowed for GPS initialization

1.0 > 5.0 5.0 m
LPE_VIS_DELAY (FLOAT)

Vision delay compensaton

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

0 > 0.1 0.1 sec
LPE_VIS_XY (FLOAT)

Vision xy standard deviation

0.01 > 1 0.1 m
LPE_VIS_Z (FLOAT)

Vision z standard deviation

0.01 > 100 0.5 m
LPE_VIC_P (FLOAT)

Vicon position standard deviation

0.0001 > 1 0.001 m
LPE_PN_P (FLOAT)

Position propagation noise density

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

0 > 1 0.1 m/s/sqrt(Hz)
LPE_PN_V (FLOAT)

Velocity propagation noise density

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

0 > 1 0.1 (m/s)/s/sqrt(Hz)
LPE_PN_B (FLOAT)

Accel bias propagation noise density

0 > 1 1e-3 (m/s^2)/s/sqrt(Hz)
LPE_PN_T (FLOAT)

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

0 > 1 0.001 (m/s)/(sqrt(hz))
LPE_T_MAX_GRADE (FLOAT)

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

0 > 100 1.0 %
LPE_FGYRO_HP (FLOAT)

Flow gyro high pass filter cut off frequency

0 > 2 0.001 Hz
LPE_FAKE_ORIGIN (INT32)

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

0 > 1 0
LPE_LAT (FLOAT)

Local origin latitude for nav w/o GPS

-90 > 90 47.397742 deg
LPE_LON (FLOAT)

Local origin longitude for nav w/o GPS

-180 > 180 8.545594 deg
LPE_X_LP (FLOAT)

Cut frequency for state publication

5 > 1000 5.0 Hz
LPE_VXY_PUB (FLOAT)

Required velocity xy standard deviation to publish position

0.01 > 1.0 0.3 m/s
LPE_Z_PUB (FLOAT)

Required z standard deviation to publish altitude/ terrain

0.3 > 5.0 1.0 m
LPE_LAND_Z (FLOAT)

Land detector z standard deviation

0.001 > 10.0 0.03 m
LPE_LAND_VXY (FLOAT)

Land detector xy velocity standard deviation

0.01 > 10.0 0.05 m/s
LPE_FUSION (INT32)

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)

Bitmask:
  • 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
0 > 255 145

MAVLink

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

MAVLink system ID

1 > 250 1
MAV_COMP_ID (INT32)

MAVLink component ID

1 > 250 1
MAV_PROTO_VER (INT32)

MAVLink protocol version

Values:
  • 0: Default to 1, switch to 2 if GCS sends version 2
  • 1: Always use version 1
  • 2: Always use version 2
0
MAV_RADIO_ID (INT32)

MAVLink Radio ID

Comment: When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults.

-1 > 240 0
MAV_TYPE (INT32)

MAVLink airframe type

1 > ? 2
MAV_USEHILGPS (INT32)

Use/Accept HIL GPS message even if not in HIL mode

Comment: If set to 1 incoming HIL GPS messages are parsed.

0
MAV_FWDEXTSP (INT32)

Forward external setpoint messages

Comment: If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode

1
MAV_BROADCAST (INT32)

Broadcast heartbeats on local network

Comment: This allows a ground control station to automatically find the drone on the local network.

Values:
  • 0: Never broadcast
  • 1: Always broadcast
0
MAV_TEST_PAR (INT32)

Test parameter

Comment: This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level.

-1000 > 1000 1

MKBLCTRL Testmode

  • 定义这些参数的模块是:src/drivers/mkblctrl
NameDescriptionMin > Max (Incr.)DefaultUnits
MKBLCTRL_TEST (INT32)

Test mode (Identify) of MKBLCTRL Driver

0

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