Low pass filter frequency for Gyro

• 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

Low pass filter frequency for Accelerometer

• 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

Sample rate in Hz

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

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.

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

Module: src/modules/commander

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

Take-off altitude

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

Module: src/modules/navigator

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

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

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

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

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

Module: src/modules/navigator

Multirotor only. Yaw setpoint mode

Comment: The values are defined in the enum mission_altitude_mode

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

Module: src/modules/navigator

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

Max yaw error in degrees needed for waypoint heading acceptance

Module: src/modules/navigator

Weather-vane mode landings for missions

Module: src/modules/navigator

Enable weather-vane mode takeoff for missions

Module: src/modules/navigator

Weather-vane mode for loiter

Module: src/modules/navigator

Loiter radius (FW only)

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

Module: src/modules/navigator

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

FW Altitude Acceptance Radius

Comment: Acceptance radius for fixedwing altitude.

Module: src/modules/navigator

MC Altitude Acceptance Radius

Comment: Acceptance radius for multicopter altitude.

Module: src/modules/navigator

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.

• 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

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.

• 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

Force VTOL mode takeoff and land

Module: src/modules/navigator

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Max acro roll rate

Module: src/examples/mc_att_control_multiplatform

Max acro pitch rate

Module: src/examples/mc_att_control_multiplatform

Max acro yaw rate

Module: src/examples/mc_att_control_multiplatform

Max manual roll

Module: src/examples/mc_pos_control_multiplatform

Max manual pitch

Module: src/examples/mc_pos_control_multiplatform

Max manual yaw rate

Module: src/examples/mc_pos_control_multiplatform

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

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

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

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

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

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

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

Roll rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

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

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

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

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

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

Pitch rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

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

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

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

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

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

Yaw rate feedforward

Comment: Improves tracking performance.

Module: src/modules/mc_att_control

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

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

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

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

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

Max acro roll rate

Module: src/modules/mc_att_control

Max acro pitch rate

Module: src/modules/mc_att_control

Max acro yaw rate

Module: src/modules/mc_att_control

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

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

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

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

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

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

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

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