PX4开发指南-13.5.5.参考参数(五)

Multicopter Position Control

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

Minimum thrust

Comment: Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.

Module:

src/examples/mc_pos_control_multiplatform

0.0 > 1.0 0.1
MPP_THR_MAX (FLOAT)

Maximum thrust

Comment: Limit max allowed thrust.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 1.0
MPP_Z_P (FLOAT)

Proportional gain for vertical position error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 1.0
MPP_Z_VEL_P (FLOAT)

Proportional gain for vertical velocity error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.1
MPP_Z_VEL_I (FLOAT)

Integral gain for vertical velocity error

Comment: Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.

Module:

src/examples/mc_pos_control_multiplatform

0.0 > ? 0.02
MPP_Z_VEL_D (FLOAT)

Differential gain for vertical velocity error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.0
MPP_Z_VEL_MAX (FLOAT)

Maximum vertical velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).

Module:

src/examples/mc_pos_control_multiplatform

0.0 > ? 5.0 m/s
MPP_Z_FF (FLOAT)

Vertical velocity feed forward

Comment: Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and

big overshot.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 0.5
MPP_XY_P (FLOAT)

Proportional gain for horizontal position error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 1.0
MPP_XY_VEL_P (FLOAT)

Proportional gain for horizontal velocity error

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.1
MPP_XY_VEL_I (FLOAT)

Integral gain for horizontal velocity error

Comment: Non-zero value allows to resist wind.

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 0.02
MPP_XY_VEL_D (FLOAT)

Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again

Module:

src/examples/mc_pos_control_multiplatform

0.0 > ? 0.01
MPP_XY_VEL_MAX (FLOAT)

Maximum horizontal velocity

Comment: Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).

Module:

src/examples/mc_pos_control_multiplatform

0.0 > ? 5.0 m/s
MPP_XY_FF (FLOAT)

Horizontal velocity feed forward

Comment: Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast

responce and big overshot.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 1.0 0.5
MPP_TILTMAX_AIR (FLOAT)

Maximum tilt angle in air

Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 45.0 deg
MPP_TILTMAX_LND (FLOAT)

Maximum tilt during landing

Comment: Limits maximum tilt angle on landing.

Module: src/examples/mc_pos_control_multiplatform

0.0 > 90.0 15.0 deg
MPP_LAND_SPEED (FLOAT)

Landing descend rate

Module: src/examples/mc_pos_control_multiplatform

0.0 > ? 1.0 m/s
MPC_THR_MIN (FLOAT)

Minimum thrust in auto thrust control

Comment: It's recommended to set it > 0 to avoid free fall with zero thrust.

Module:

src/modules/mc_pos_control

0.05 > 1.0 (0.01) 0.12 norm
MPC_THR_HOVER (FLOAT)

Hover thrust

Comment: Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover,

transition from manual to ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed.

Module: src/modules/mc_pos_control

0.2 > 0.8 (0.01) 0.5 norm
MPC_THR_MAX (FLOAT)

Maximum thrust in auto thrust control

Comment: Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is

possible any more. A value of 0.8 - 0.9 is recommended.

Module: src/modules/mc_pos_control

0.0 > 0.95 (0.01) 0.9 norm
MPC_MANTHR_MIN (FLOAT)

Minimum manual thrust

Comment: Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.

Module:

src/modules/mc_pos_control

0.0 > 1.0 (0.01) 0.08 norm
MPC_MANTHR_MAX (FLOAT)

Maximum manual thrust

Comment: Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more.

A value of 0.8 - 0.9 is recommended.

Module: src/modules/mc_pos_control

0.0 > 1.0 (0.01) 0.9 norm
MPC_Z_P (FLOAT)

Proportional gain for vertical position error

Module: src/modules/mc_pos_control

0.0 > 1.5 1.0
MPC_Z_VEL_P (FLOAT)

Proportional gain for vertical velocity error

Module: src/modules/mc_pos_control

0.1 > 0.4 0.2
MPC_Z_VEL_I (FLOAT)

Integral gain for vertical velocity error

Comment: Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.

Module:

src/modules/mc_pos_control

0.01 > 0.1 0.02
MPC_Z_VEL_D (FLOAT)

Differential gain for vertical velocity error

Module: src/modules/mc_pos_control

0.0 > 0.1 0.0
MPC_Z_VEL_MAX_UP (FLOAT)

Maximum vertical ascent velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

Module:

src/modules/mc_pos_control

0.5 > 8.0 3.0 m/s
MPC_Z_VEL_MAX_DN (FLOAT)

Maximum vertical descent velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

Module:

src/modules/mc_pos_control

0.5 > 4.0 1.0 m/s
MPC_Z_FF (FLOAT)

Vertical velocity feed forward

Comment: Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast

responce and big overshot.

Module: src/modules/mc_pos_control

0.0 > 1.0 0.5
MPC_XY_P (FLOAT)

Proportional gain for horizontal position error

Module: src/modules/mc_pos_control

0.0 > 2.0 0.95
MPC_XY_VEL_P (FLOAT)

Proportional gain for horizontal velocity error

Module: src/modules/mc_pos_control

0.06 > 0.15 0.09
MPC_XY_VEL_I (FLOAT)

Integral gain for horizontal velocity error

Comment: Non-zero value allows to resist wind.

Module: src/modules/mc_pos_control

0.0 > 0.1 0.02
MPC_XY_VEL_D (FLOAT)

Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again

Module: src/modules/mc_pos_control

0.005 > 0.1 0.01
MPC_XY_CRUISE (FLOAT)

Nominal horizontal velocity

Comment: Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).

Module: src/modules/mc_pos_control

3.0 > 20.0 (1) 5.0 m/s
MPC_TARGET_THRE (FLOAT)

Distance Threshold Horizontal Auto

Comment: The distance defines at which point the vehicle has to slow down to reach target if no direct passing to the next target is

desired

Module: src/modules/mc_pos_control

1.0 > 50.0 (1) 15.0 m
MPC_XY_VEL_MAX (FLOAT)

Maximum horizontal velocity

Comment: Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.

Module: src/modules/mc_pos_control

0.0 > 20.0 (1) 8.0 m/s
MPC_XY_FF (FLOAT)

Horizontal velocity feed forward

Comment: Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast

responce and big overshot.

Module: src/modules/mc_pos_control

0.0 > 1.0 0.5
MPC_TILTMAX_AIR (FLOAT)

Maximum tilt angle in air

Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.

Module: src/modules/mc_pos_control

0.0 > 90.0 45.0 deg
MPC_TILTMAX_LND (FLOAT)

Maximum tilt during landing

Comment: Limits maximum tilt angle on landing.

Module: src/modules/mc_pos_control

0.0 > 90.0 12.0 deg
MPC_LAND_SPEED (FLOAT)

Landing descend rate

Module: src/modules/mc_pos_control

0.2 > ? 0.5 m/s
MPC_TKO_SPEED (FLOAT)

Takeoff climb rate

Module: src/modules/mc_pos_control

1 > 5 1.5 m/s
MPC_MAN_R_MAX (FLOAT)

Max manual roll

Module: src/modules/mc_pos_control

0.0 > 90.0 35.0 deg
MPC_MAN_P_MAX (FLOAT)

Max manual pitch

Module: src/modules/mc_pos_control

0.0 > 90.0 35.0 deg
MPC_MAN_Y_MAX (FLOAT)

Max manual yaw rate

Module: src/modules/mc_pos_control

0.0 > 400 200.0 deg/s
MPC_HOLD_DZ (FLOAT)

Deadzone of sticks where position hold is enabled

Module: src/modules/mc_pos_control

0.0 > 1.0 0.1
MPC_HOLD_MAX_XY (FLOAT)

Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)

Module: src/modules/mc_pos_control

0.0 > 3.0 0.8 m/s
MPC_HOLD_MAX_Z (FLOAT)

Maximum vertical velocity for which position hold is enabled (use 0 to disable check)

Module: src/modules/mc_pos_control

0.0 > 3.0 0.6 m/s
MPC_VELD_LP (FLOAT)

Low pass filter cut freq. for numerical velocity derivative

Module: src/modules/mc_pos_control

0.0 > 10 5.0 Hz
MPC_ACC_HOR_MAX (FLOAT)

Maximum horizonal acceleration in velocity controlled modes

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 5.0 m/s/s
MPC_DEC_HOR_MAX (FLOAT)

Maximum horizonal braking deceleration in velocity controlled modes

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 10.0 m/s/s
MPC_ACC_UP_MAX (FLOAT)

Maximum vertical acceleration in velocity controlled modes upward

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 5.0 m/s/s
MPC_ACC_DOWN_MAX (FLOAT)

Maximum vertical acceleration in velocity controlled modes down

Module: src/modules/mc_pos_control

2.0 > 15.0 (1) 5.0 m/s/s
MPC_ALT_MODE (INT32)

Altitude control mode, note mode 1 only tested with LPE

Values:
  • 0: Altitude following
  • 1: Terrain following

Module: src/modules/mc_pos_control

0 > 1 0
MPC_XY_MAN_EXPO (FLOAT)

Manual control stick exponential curve sensitivity attenuation with small velocity setpoints

Comment: The higher the value the less sensitivity the stick has around zero while

still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve

Module: src/modules/mc_pos_control

0 > 1 0.0
MPC_Z_MAN_EXPO (FLOAT)

Manual control stick vertical exponential curve

Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full

stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve

Module: src/modules/mc_pos_control

0 > 1 0.0
MPC_LAND_ALT1 (FLOAT)

Altitude for 1. step of slow landing (descend)

Comment: Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and

"MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2"

Module: src/modules/mc_pos_control

0 > 122 10.0 m
MPC_LAND_ALT2 (FLOAT)

Altitude for 2. step of slow landing (landing)

Comment: Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than

"MPC_LAND_ALT1"

Module: src/modules/mc_pos_control

0 > 122 5.0 m

PWM Outputs

NameDescriptionMin > Max (Incr.)DefaultUnits
PWM_AUX_REV1 (INT32)

Invert direction of aux output channel 1

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV2 (INT32)

Invert direction of aux output channel 2

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV3 (INT32)

Invert direction of aux output channel 3

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV4 (INT32)

Invert direction of aux output channel 4

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV5 (INT32)

Invert direction of aux output channel 5

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_REV6 (INT32)

Invert direction of aux output channel 6

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4fmu

0
PWM_AUX_TRIM1 (FLOAT)

Trim value for FMU PWM output channel 1

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM2 (FLOAT)

Trim value for FMU PWM output channel 2

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM3 (FLOAT)

Trim value for FMU PWM output channel 3

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM4 (FLOAT)

Trim value for FMU PWM output channel 4

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM5 (FLOAT)

Trim value for FMU PWM output channel 5

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_AUX_TRIM6 (FLOAT)

Trim value for FMU PWM output channel 6

Comment: Set to normalized offset

Module: src/drivers/px4fmu

-0.2 > 0.2 0
PWM_MAIN_REV1 (INT32)

Invert direction of main output channel 1

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV2 (INT32)

Invert direction of main output channel 2

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV3 (INT32)

Invert direction of main output channel 3

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV4 (INT32)

Invert direction of main output channel 4

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV5 (INT32)

Invert direction of main output channel 5

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV6 (INT32)

Invert direction of main output channel 6

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV7 (INT32)

Invert direction of main output channel 7

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_REV8 (INT32)

Invert direction of main output channel 8

Comment: Set to 1 to invert the channel, 0 for default direction.

Reboot required: true

Module: src/drivers/px4io

0
PWM_MAIN_TRIM1 (FLOAT)

Trim value for main output channel 1

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM2 (FLOAT)

Trim value for main output channel 2

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM3 (FLOAT)

Trim value for main output channel 3

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM4 (FLOAT)

Trim value for main output channel 4

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM5 (FLOAT)

Trim value for main output channel 5

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM6 (FLOAT)

Trim value for main output channel 6

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM7 (FLOAT)

Trim value for main output channel 7

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_MAIN_TRIM8 (FLOAT)

Trim value for main output channel 8

Comment: Set to normalized offset

Module: src/drivers/px4io

-0.2 > 0.2 0
PWM_SBUS_MODE (INT32)

S.BUS out

Comment: Set to 1 to enable S.BUS version 1 output instead of RSSI.

Module: src/drivers/px4io

0
PWM_RATE (INT32)

Set the PWM output frequency for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 400 for

industry default or 1000 for high frequency ESCs.

Reboot required: true

Module: src/modules/sensors

-1 > 2000 400 Hz
PWM_MIN (INT32)

Set the minimum PWM for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 1000 for industry

default or 900 to increase servo travel.

Reboot required: true

Module: src/modules/sensors

800 > 1400 1000 us
PWM_MAX (INT32)

Set the maximum PWM for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 2000 for industry

default or 2100 to increase servo travel.

Reboot required: true

Module: src/modules/sensors

1600 > 2200 2000 us
PWM_DISARMED (INT32)

Set the disarmed PWM for the main outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. This is the PWM pulse the

autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

Reboot required: true

Module: src/modules/sensors

0 > 2200 900 us
PWM_AUX_MIN (INT32)

Set the minimum PWM for the auxiliary outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 1000 for

default or 900 to increase servo travel

Reboot required: true

Module: src/modules/sensors

800 > 1400 1000 us
PWM_AUX_MAX (INT32)

Set the maximum PWM for the auxiliary outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 2000 for

default or 2100 to increase servo travel

Reboot required: true

Module: src/modules/sensors

1600 > 2200 2000 us
PWM_AUX_DISARMED (INT32)

Set the disarmed PWM for auxiliary outputs

Comment: IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. This is the PWM pulse the

autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

Reboot required: true

Module: src/modules/sensors

0 > 2200 1500 us
THR_MDL_FAC (FLOAT)

Thrust to PWM model parameter

Comment: Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2

Module: src/modules/sensors

0.0 > 1.0 0.0
MOT_SLEW_MAX (FLOAT)

Minimum motor rise time (slew rate limit)

Comment: Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor

signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.

Module: src/modules/sensors

0.0 > ? 0.0 s/(1000*PWM)

Payload drop

  • 定义这些参数的模块是:src/modules/bottle_drop

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

Ground drag property

Comment: This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.

0.001 > 0.1 0.03
BD_TURNRADIUS (FLOAT)

Plane turn radius

Comment: The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the

wings are level during the drop.

30.0 > 500.0 120.0 m
BD_PRECISION (FLOAT)

Drop precision

Comment: If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of

the required accuracy.

1.0 > 80.0 30.0 m
BD_OBJ_CD (FLOAT)

Payload drag coefficient of the dropped object

Comment: The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest

primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient

0.08 > 1.5 0.1
BD_OBJ_MASS (FLOAT)

Payload mass

Comment: A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg

0.001 > 5.0 0.6 kg
BD_OBJ_SURFACE (FLOAT)

Payload front surface area

Comment: A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2

0.001 > 0.5 0.00311724531 m^2

Position Estimator

  • 定义这些参数的模块是:src/examples/ekf_att_pos_estimator

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

Velocity estimate delay

Comment: The delay in milliseconds of the velocity estimate from GPS.

0 > 1000 230 ms
PE_POS_DELAY_MS (INT32)

Position estimate delay

Comment: The delay in milliseconds of the position estimate from GPS.

0 > 1000 210 ms
PE_HGT_DELAY_MS (INT32)

Height estimate delay

Comment: The delay in milliseconds of the height estimate from the barometer.

0 > 1000 350 ms
PE_MAG_DELAY_MS (INT32)

Mag estimate delay

Comment: The delay in milliseconds of the magnetic field estimate from the magnetometer.

0 > 1000 30 ms
PE_TAS_DELAY_MS (INT32)

True airspeeed estimate delay

Comment: The delay in milliseconds of the airspeed estimate.

0 > 1000 210 ms
PE_GPS_ALT_WGT (FLOAT)

GPS vs. barometric altitude update weight

Comment: RE-CHECK this.

0.0 > 1.0 0.9
PE_EAS_NOISE (FLOAT)

Airspeed measurement noise

Comment: Increasing this value will make the filter trust this sensor less and trust other sensors more.

0.5 > 5.0 1.4
PE_VELNE_NOISE (FLOAT)

Velocity measurement noise in north-east (horizontal) direction

Comment: Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5

0.05 > 5.0 0.3
PE_VELD_NOISE (FLOAT)

Velocity noise in down (vertical) direction

Comment: Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7

0.2 > 3.0 0.3
PE_POSNE_NOISE (FLOAT)

Position noise in north-east (horizontal) direction

Comment: Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5

0.1 > 10.0 0.5
PE_POSD_NOISE (FLOAT)

Position noise in down (vertical) direction

Comment: Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0

0.5 > 3.0 1.25
PE_MAG_NOISE (FLOAT)

Magnetometer measurement noise

Comment: Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05

0.01 > 1.0 0.05
PE_GYRO_PNOISE (FLOAT)

Gyro process noise

Comment: Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements.

Increasing it makes the filter trust the gyro less and other sensors more.

0.001 > 0.05 0.015
PE_ACC_PNOISE (FLOAT)

Accelerometer process noise

Comment: Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and

other sensors more.

0.05 > 1.0 0.125
PE_GBIAS_PNOISE (FLOAT)

Gyro bias estimate process noise

Comment: Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster

but noisier.

0.00000005 > 0.00001 1e-07
PE_ABIAS_PNOISE (FLOAT)

Accelerometer bias estimate process noise

Comment: Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation

faster and noisier.

0.00001 > 0.001 1e-05
PE_MAGE_PNOISE (FLOAT)

Magnetometer earth frame offsets process noise

Comment: Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer

earth bias estimate converge faster but also noisier.

0.0001 > 0.01 0.0003
PE_MAGB_PNOISE (FLOAT)

Magnetometer body frame offsets process noise

Comment: Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body

bias estimate converge faster but also noisier.

0.0001 > 0.01 0.0003
PE_MAGB_X (FLOAT)

Magnetometer X bias

Comment: The magnetometer bias. This bias is learnt by the filter over time and persists between boots.

-0.6 > 0.6 0.0
PE_MAGB_Y (FLOAT)

Magnetometer Y bias

Comment: The magnetometer bias. This bias is learnt by the filter over time and persists between boots.

-0.6 > 0.6 0.0
PE_MAGB_Z (FLOAT)

Magnetometer Z bias

Comment: The magnetometer bias. This bias is learnt by the filter over time and persists between boots.

-0.6 > 0.6 0.0
PE_POSDEV_INIT (FLOAT)

Threshold for filter initialization

Comment: If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize.

0.3 > 10.0 5.0

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标签: px4开发指南