PX4开发指南-13.5.4.参考参数(四)

MPU9x50 Configuration

  • 定义这些参数的模块是:src/platforms/qurt/fc_addon/mpu_spi
NameDescriptionMin > Max (Incr.)DefaultUnits
MPU_GYRO_LPF_ENM (INT32)

Low pass filter frequency for Gyro

Values:
  • 0: MPU9X50_GYRO_LPF_250HZ
  • 1: MPU9X50_GYRO_LPF_184HZ
  • 2: MPU9X50_GYRO_LPF_92HZ
  • 3: MPU9X50_GYRO_LPF_41HZ
  • 4: MPU9X50_GYRO_LPF_20HZ
  • 5: MPU9X50_GYRO_LPF_10HZ
  • 6: MPU9X50_GYRO_LPF_5HZ
  • 7: MPU9X50_GYRO_LPF_3600HZ_NOLPF
4
MPU_ACC_LPF_ENM (INT32)

Low pass filter frequency for Accelerometer

Values:
  • 0: MPU9X50_ACC_LPF_460HZ
  • 1: MPU9X50_ACC_LPF_184HZ
  • 2: MPU9X50_ACC_LPF_92HZ
  • 3: MPU9X50_ACC_LPF_41HZ
  • 4: MPU9X50_ACC_LPF_20HZ
  • 5: MPU9X50_ACC_LPF_10HZ
  • 6: MPU9X50_ACC_LPF_5HZ
  • 7: MPU9X50_ACC_LPF_460HZ_NOLPF
4
MPU_SAMPLE_R_ENM (INT32)

Sample rate in Hz

Values:
  • 0: MPU9x50_SAMPLE_RATE_100HZ
  • 1: MPU9x50_SAMPLE_RATE_200HZ
  • 2: MPU9x50_SAMPLE_RATE_500HZ
  • 3: MPU9x50_SAMPLE_RATE_1000HZ
2

Mission

NameDescriptionMin > Max (Incr.)DefaultUnits
COM_OBL_ACT (INT32)

Set offboard loss failsafe mode

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

Values:
  • 0: Land at current position
  • 1: Loiter
  • 2: Return to Land

Module: src/modules/commander

0
COM_OBL_RC_ACT (INT32)

Set offboard loss failsafe mode when RC is available

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

Values:

  • 0: Position control
  • 1: Altitude control
  • 2: Manual
  • 3: Return to Land
  • 4: Land at current position

Module: src/modules/commander

0
MIS_TAKEOFF_ALT (FLOAT)

Take-off altitude

Comment: This is the minimum altitude the system will take off to.

Module: src/modules/navigator

0 > 80 (0.5) 2.5 m
MIS_LTRMIN_ALT (FLOAT)

Minimum Loiter altitude

Comment: This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.

Module:

src/modules/navigator

0 > 80 (0.5) 1.2 m
MIS_ONBOARD_EN (INT32)

Persistent onboard mission storage

Comment: When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently.

Module:

src/modules/navigator

1
MIS_DIST_1WP (FLOAT)

Maximal horizontal distance from home to first waypoint

Comment: Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of

zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the current position.

Module: src/modules/navigator

0 > 1000 (0.5) 900 m
MIS_ALTMODE (INT32)

Altitude setpoint mode

Comment: 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the

definition in enum mission_altitude_mode

Values:

  • 0: Zero Order Hold
  • 1: First Order Hold

Module: src/modules/navigator

0 > 1 1
MIS_YAWMODE (INT32)

Multirotor only. Yaw setpoint mode

Comment: The values are defined in the enum mission_altitude_mode

Values:
  • 0: Heading as set by waypoint
  • 1: Heading towards waypoint
  • 2: Heading towards home
  • 3: Heading away from home

Module: src/modules/navigator

0 > 3 1
MIS_YAW_TMT (FLOAT)

Time in seconds we wait on reaching target heading at a waypoint if it is forced

Comment: If set > 0 it will ignore the target heading for normal waypoint acceptance. If the

waypoint forces the heading the timeout will matter. For example on VTOL forwards transiton. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.

Module:

src/modules/navigator

-1 > 20 (1) -1.0 s
MIS_YAW_ERR (FLOAT)

Max yaw error in degrees needed for waypoint heading acceptance

Module: src/modules/navigator

0 > 90 (1) 12.0 deg
VT_WV_LND_EN (INT32)

Weather-vane mode landings for missions

Module: src/modules/navigator

0
VT_WV_TKO_EN (INT32)

Enable weather-vane mode takeoff for missions

Module: src/modules/navigator

0
VT_WV_LTR_EN (INT32)

Weather-vane mode for loiter

Module: src/modules/navigator

0
NAV_LOITER_RAD (FLOAT)

Loiter radius (FW only)

Comment: Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).

Module: src/modules/navigator

25 > 1000 (0.5) 50.0 m
NAV_ACC_RAD (FLOAT)

Acceptance Radius

Comment: Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal

acceptance.

Module: src/modules/navigator

0.05 > 200.0 (0.5) 10.0 m
NAV_FW_ALT_RAD (FLOAT)

FW Altitude Acceptance Radius

Comment: Acceptance radius for fixedwing altitude.

Module: src/modules/navigator

0.05 > 200.0 (0.5) 10.0 m
NAV_MC_ALT_RAD (FLOAT)

MC Altitude Acceptance Radius

Comment: Acceptance radius for multicopter altitude.

Module: src/modules/navigator

0.05 > 200.0 (0.5) 3.0 m
NAV_DLL_ACT (INT32)

Set data link loss failsafe mode

Comment: The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected

action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

Values:

  • 0: Disabled
  • 1: Loiter
  • 2: Return to Land
  • 3: Land at current position
  • 4: Data Link Auto Recovery (CASA Outback Challenge rules)
  • 5: Terminate
  • 6: Lockdown

Module: src/modules/navigator

0
NAV_RCL_ACT (INT32)

Set RC loss failsafe mode

Comment: 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. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

Values:

  • 0: Disabled
  • 1: Loiter
  • 2: Return to Land
  • 3: Land at current position
  • 4: RC Auto Recovery (CASA Outback Challenge rules)
  • 5: Terminate
  • 6: Lockdown

Module: src/modules/navigator

2
NAV_FORCE_VT (INT32)

Force VTOL mode takeoff and land

Module: src/modules/navigator

1

Multicopter Attitude Control

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

Roll P gain

Comment: Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 6.0
MP_ROLLRATE_P (FLOAT)

Roll rate P gain

Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.1
MP_ROLLRATE_I (FLOAT)

Roll rate I gain

Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_ROLLRATE_D (FLOAT)

Roll rate D gain

Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.002
MP_PITCH_P (FLOAT)

Pitch P gain

Comment: Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 6.0 1/s
MP_PITCHRATE_P (FLOAT)

Pitch rate P gain

Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module:

src/examples/mc_att_control_multiplatform

0.0 &ggt; ? 0.1
MP_PITCHRATE_I (FLOAT)

Pitch rate I gain

Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_PITCHRATE_D (FLOAT)

Pitch rate D gain

Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.002
MP_YAW_P (FLOAT)

Yaw P gain

Comment: Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 2.0 1/s
MP_YAWRATE_P (FLOAT)

Yaw rate P gain

Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 0.3
MP_YAWRATE_I (FLOAT)

Yaw rate I gain

Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_YAWRATE_D (FLOAT)

Yaw rate D gain

Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Module:

src/examples/mc_att_control_multiplatform

0.0 > ? 0.0
MP_YAW_FF (FLOAT)

Yaw feed forward

Comment: Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module:

src/examples/mc_att_control_multiplatform

0.0 > 1.0 0.5
MP_YAWRATE_MAX (FLOAT)

Max yaw rate

Comment: Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.

Module:

src/examples/mc_att_control_multiplatform

0.0 > 360.0 60.0 deg/s
MP_ACRO_R_MAX (FLOAT)

Max acro roll rate

Module: src/examples/mc_att_control_multiplatform

0.0 > 360.0 35.0 deg/s
MP_ACRO_P_MAX (FLOAT)

Max acro pitch rate

Module: src/examples/mc_att_control_multiplatform

0.0 > 360.0 35.0 deg/s
MP_ACRO_Y_MAX (FLOAT)

Max acro yaw rate

Module: src/examples/mc_att_control_multiplatform

0.0 > ? 120.0 deg/s
MPP_MAN_R_MAX (FLOAT)

Max manual roll

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 35.0 deg
MPP_MAN_P_MAX (FLOAT)

Max manual pitch

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 35.0 deg
MPP_MAN_Y_MAX (FLOAT)

Max manual yaw rate

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 120.0 deg/s
MC_ROLL_TC (FLOAT)

Roll time constant

Comment: Reduce if the system is too twitchy, increase if the response is too slow and sluggish.

Module: src/modules/mc_att_control

0.15 > 0.25 (0.01) 0.2 s
MC_PITCH_TC (FLOAT)

Pitch time constant

Comment: Reduce if the system is too twitchy, increase if the response is too slow and sluggish.

Module: src/modules/mc_att_control

0.15 > 0.25 (0.01) 0.2 s
MC_ROLL_P (FLOAT)

Roll P gain

Comment: Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/modules/mc_att_control

0.0 > 8 (0.1) 6.5 1/s
MC_ROLLRATE_P (FLOAT)

Roll rate P gain

Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/modules/mc_att_control

0.0 > 0.5 (0.01) 0.15
MC_ROLLRATE_I (FLOAT)

Roll rate I gain

Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module:

src/modules/mc_att_control

0.0 > ? (0.01) 0.05
MC_RR_INT_LIM (FLOAT)

Roll rate integrator limit

Comment: Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve

settling time after large roll moment trim changes.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.30
MC_ROLLRATE_D (FLOAT)

Roll rate D gain

Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Module:

src/modules/mc_att_control

0.0 > 0.01 (0.0005) 0.003
MC_ROLLRATE_FF (FLOAT)

Roll rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

0.0 > ? 0.0
MC_PITCH_P (FLOAT)

Pitch P gain

Comment: Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/modules/mc_att_control

0.0 > 10 (0.1) 6.5 1/s
MC_PITCHRATE_P (FLOAT)

Pitch rate P gain

Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/modules/mc_att_control

0.0 > 0.6 (0.01) 0.15
MC_PITCHRATE_I (FLOAT)

Pitch rate I gain

Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module:

src/modules/mc_att_control

0.0 > ? (0.01) 0.05
MC_PR_INT_LIM (FLOAT)

Pitch rate integrator limit

Comment: Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve

settling time after large pitch moment trim changes.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.30
MC_PITCHRATE_D (FLOAT)

Pitch rate D gain

Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Module:

src/modules/mc_att_control

0.0 > ? (0.0005) 0.003
MC_PITCHRATE_FF (FLOAT)

Pitch rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

0.0 > ? 0.0
MC_YAW_P (FLOAT)

Yaw P gain

Comment: Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Module: src/modules/mc_att_control

0.0 > 5 (0.1) 2.8 1/s
MC_YAWRATE_P (FLOAT)

Yaw rate P gain

Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Module: src/modules/mc_att_control

0.0 > 0.6 (0.01) 0.2
MC_YAWRATE_I (FLOAT)

Yaw rate I gain

Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Module:

src/modules/mc_att_control

0.0 > ? (0.01) 0.1
MC_YR_INT_LIM (FLOAT)

Yaw rate integrator limit

Comment: Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling

time after large yaw moment trim changes.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.30
MC_YAWRATE_D (FLOAT)

Yaw rate D gain

Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Module:

src/modules/mc_att_control

0.0 > ? (0.01) 0.0
MC_YAWRATE_FF (FLOAT)

Yaw rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

0.0 > ? (0.01) 0.0
MC_YAW_FF (FLOAT)

Yaw feed forward

Comment: Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.

Module:

src/modules/mc_att_control

0.0 > 1.0 (0.01) 0.5
MC_ROLLRATE_MAX (FLOAT)

Max roll rate

Comment: Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.

Module:

src/modules/mc_att_control

0.0 > 360.0 (5) 220.0 deg/s
MC_PITCHRATE_MAX (FLOAT)

Max pitch rate

Comment: Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.

Module:

src/modules/mc_att_control

0.0 > 360.0 (5) 220.0 deg/s
MC_YAWRATE_MAX (FLOAT)

Max yaw rate

Comment: A value of significantly over 120 degrees per second can already lead to mixer saturation.

Module: src/modules/mc_att_control

0.0 > 360.0 (5) 200.0 deg/s
MC_YAWRAUTO_MAX (FLOAT)

Max yaw rate in auto mode

Comment: Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of

significantly over 60 degrees per second can already lead to mixer saturation. A value of 30 degrees / second is recommended to avoid very audible twitches.

Module: src/modules/mc_att_control

0.0 > 120.0 (5) 45.0 deg/s
MC_ACRO_R_MAX (FLOAT)

Max acro roll rate

Module: src/modules/mc_att_control

0.0 > 1000.0 (5) 360.0 deg/s
MC_ACRO_P_MAX (FLOAT)

Max acro pitch rate

Module: src/modules/mc_att_control

0.0 > 1000.0 (5) 360.0 deg/s
MC_ACRO_Y_MAX (FLOAT)

Max acro yaw rate

Module: src/modules/mc_att_control

0.0 > 1000.0 (5) 360.0 deg/s
MC_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

Module: src/modules/mc_att_control

0.0 > 1.0 (0.01) 0.8
MC_BAT_SCALE_EN (INT32)

Battery power level scaler

Comment: This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.

The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.

Module:

src/modules/mc_att_control

0
MC_TPA_BREAK_P (FLOAT)

TPA P Breakpoint

Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain

Module:

src/modules/mc_att_control

0.0 > 1.0 (0.1) 1.0
MC_TPA_BREAK_I (FLOAT)

TPA I Breakpoint

Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain

Module:

src/modules/mc_att_control

0.0 > 1.0 (0.1) 1.0
MC_TPA_BREAK_D (FLOAT)

TPA D Breakpoint

Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain

Module:

src/modules/mc_att_control

0.0 > 1.0 (0.1) 1.0
MC_TPA_RATE_P (FLOAT)

TPA Rate P

Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the

setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))

Module: src/modules/mc_att_control

0.0 > 1.0 (0.05) 0.0
MC_TPA_RATE_I (FLOAT)

TPA Rate I

Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch I gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the

setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))

Module: src/modules/mc_att_control

0.0 > 1.0 (0.05) 0.0
MC_TPA_RATE_D (FLOAT)

TPA Rate D

Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the

setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))

Module: src/modules/mc_att_control

0.0 > 1.0 (0.05) 0.0

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