PX4开发指南-13.5.7.参考参数(七)

Position Estimator INAV

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

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

Z axis weight for barometer

Comment: Weight (cutoff frequency) for barometer altitude measurements.

0.0 > 10.0 0.5
INAV_W_Z_GPS_P (FLOAT)

Z axis weight for GPS

Comment: Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro

offset.

0.0 > 10.0 0.005
INAV_W_Z_GPS_V (FLOAT)

Z velocity weight for GPS

Comment: Weight (cutoff frequency) for GPS altitude velocity measurements.

0.0 > 10.0 0.0
INAV_W_Z_VIS_P (FLOAT)

Z axis weight for vision

Comment: Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for

baro offset.

0.0 > 10.0 5.0
INAV_W_Z_LIDAR (FLOAT)

Z axis weight for lidar

Comment: Weight (cutoff frequency) for lidar measurements.

0.0 > 10.0 3.0
INAV_W_XY_GPS_P (FLOAT)

XY axis weight for GPS position

Comment: Weight (cutoff frequency) for GPS position measurements.

0.0 > 10.0 1.0
INAV_W_XY_GPS_V (FLOAT)

XY axis weight for GPS velocity

Comment: Weight (cutoff frequency) for GPS velocity measurements.

0.0 > 10.0 2.0
INAV_W_XY_VIS_P (FLOAT)

XY axis weight for vision position

Comment: Weight (cutoff frequency) for vision position measurements.

0.0 > 10.0 7.0
INAV_W_XY_VIS_V (FLOAT)

XY axis weight for vision velocity

Comment: Weight (cutoff frequency) for vision velocity measurements.

0.0 > 10.0 0.0
INAV_W_MOC_P (FLOAT)

Weight for mocap system

Comment: Weight (cutoff frequency) for mocap position measurements.

0.0 > 10.0 10.0
INAV_W_XY_FLOW (FLOAT)

XY axis weight for optical flow

Comment: Weight (cutoff frequency) for optical flow (velocity) measurements.

0.0 > 10.0 0.8
INAV_W_XY_RES_V (FLOAT)

XY axis weight for resetting velocity

Comment: When velocity sources lost slowly decrease estimated horizontal velocity with this weight.

0.0 > 10.0 0.5
INAV_W_GPS_FLOW (FLOAT)

XY axis weight factor for GPS when optical flow available

Comment: When optical flow data available, multiply GPS weights (for position and velocity) by this factor.

0.0 > 1.0 0.1
INAV_W_ACC_BIAS (FLOAT)

Accelerometer bias estimation weight

Comment: Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.

0.0 > 0.1 0.05
INAV_FLOW_K (FLOAT)

Optical flow scale factor

Comment: Factor to scale optical flow

0.0 > 10.0 1.35
INAV_FLOW_Q_MIN (FLOAT)

Minimal acceptable optical flow quality

Comment: 0 - lowest quality, 1 - best quality.

0.0 > 1.0 0.3
INAV_LIDAR_ERR (FLOAT)

Sonar maximal error for new surface

Comment: If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).

0.0 > 1.0 0.2 m
INAV_LAND_T (FLOAT)

Land detector time

Comment: Vehicle assumed landed if no altitude changes happened during this time on low throttle.

0.0 > 10.0 3.0 s
INAV_LAND_DISP (FLOAT)

Land detector altitude dispersion threshold

Comment: Dispersion threshold for triggering land detector.

0.0 > 10.0 0.7 m
INAV_LAND_THR (FLOAT)

Land detector throttle threshold

Comment: Value should be lower than minimal hovering thrust. Half of it is good choice.

0.0 > 1.0 0.2
INAV_DELAY_GPS (FLOAT)

GPS delay

Comment: GPS delay compensation

0.0 > 1.0 0.2 s
INAV_FLOW_DIST_X (FLOAT)

Flow module offset (center of rotation) in X direction

Comment: Yaw X flow compensation

-1.0 > 1.0 0.0 m
INAV_FLOW_DIST_Y (FLOAT)

Flow module offset (center of rotation) in Y direction

Comment: Yaw Y flow compensation

-1.0 > 1.0 0.0 m
INAV_DISAB_MOCAP (FLOAT)

Mo-cap

Comment: Set to 0 if using fake GPS

Values:
  • 0: Mo-cap enabled
  • 1: Mo-cap disabled
0
INAV_LIDAR_EST (FLOAT)

LIDAR for altitude estimation

0
INAV_LIDAR_OFF (FLOAT)

LIDAR calibration offset

Comment: LIDAR calibration offset. Value will be added to the measured distance

-20 > 20 0.0 m
CBRK_NO_VISION (INT32)

Disable vision input

Comment: Set to the appropriate key (328754) to disable vision input.

Reboot required: true

0 > 328754 0

RC Receiver Configuration

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

RC receiver type

Comment: Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2,

1

Radio Switches

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

Single channel flight mode selection

Comment: If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_MODE_SW (INT32)

Mode switch channel mapping

Comment: This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_RETURN_SW (INT32)

Return switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_RATT_SW (INT32)

Rattitude switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_POSCTL_SW (INT32)

Position Control switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_LOITER_SW (INT32)

Loiter switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_ACRO_SW (INT32)

Acro switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_OFFB_SW (INT32)

Offboard switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_KILL_SW (INT32)

Kill switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_ARM_SW (INT32)

Arm switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_FLAPS (INT32)

Flaps channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_TRANS_SW (INT32)

VTOL transition switch channel mapping

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_GEAR_SW (INT32)

Landing gear switch channel

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_STAB_SW (INT32)

Stabilize switch channel mapping

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_MAP_MAN_SW (INT32)

Manual switch channel mapping

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
0 > 18 0
RC_ASSIST_TH (FLOAT)

Threshold for selecting assist mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.25
RC_AUTO_TH (FLOAT)

Threshold for selecting auto mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.75
RC_RATT_TH (FLOAT)

Threshold for selecting rattitude mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_POSCTL_TH (FLOAT)

Threshold for selecting posctl mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_RETURN_TH (FLOAT)

Threshold for selecting return to launch mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_LOITER_TH (FLOAT)

Threshold for selecting loiter mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_ACRO_TH (FLOAT)

Threshold for selecting acro mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_OFFB_TH (FLOAT)

Threshold for selecting offboard mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_KILLSWITCH_TH (FLOAT)

Threshold for the kill switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.25
RC_ARMSWITCH_TH (FLOAT)

Threshold for the arm switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.25
RC_TRANS_TH (FLOAT)

Threshold for the VTOL transition switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.25
RC_GEAR_TH (FLOAT)

Threshold for the landing gear switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.25
RC_STAB_TH (FLOAT)

Threshold for the stabilize switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5
RC_MAN_TH (FLOAT)

Threshold for the manual switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel

-1 > 1 0.5

Return To Land

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

RTL altitude

Comment: Altitude to fly back in RTL in meters

0 > 150 (0.5) 60 m
RTL_DESCEND_ALT (FLOAT)

RTL loiter altitude

Comment: Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.

2 > 100 (0.5) 30 m
RTL_LAND_DELAY (FLOAT)

RTL delay

Comment: Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.

-1 > 300 (0.5) -1.0 s
RTL_MIN_DIST (FLOAT)

Minimum distance to trigger rising to a safe altitude

Comment: If the system is horizontally closer than this distance to home it will land straight on home instead of raising to the return altitude first.

0.5 > 20 (0.5) 5.0 m

Runway Takeoff

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

Runway takeoff with landing gear

0
RWTO_HDG (INT32)

Specifies which heading should be held during runnway takeoff

Comment: 0: airframe heading, 1: heading towards takeoff waypoint

Values:
  • 0: Airframe
  • 1: Waypoint
0 > 1 0
RWTO_NAV_ALT (FLOAT)

Altitude AGL at which we have enough ground clearance to allow some roll. Until RWTO_NAV_ALT is reached the plane is held level and only rudder is used to keep the heading (see RWTO_HDG). This should be below FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0

0.0 > 100.0 (1) 5.0 m
RWTO_MAX_THR (FLOAT)

Max throttle during runway takeoff. (Can be used to test taxi on runway)

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

Pitch setpoint during taxi / before takeoff airspeed is reached. A taildragger with stearable wheel might need to pitch up a little to keep it's wheel on the ground before airspeed to takeoff is reached

0.0 > 20.0 (0.5) 0.0 deg
RWTO_MAX_PITCH (FLOAT)

Max pitch during takeoff. Fixed-wing settings are used if set to 0. Note that there is also a minimum pitch of 10 degrees during takeoff, so this must be larger if set

0.0 > 60.0 (0.5) 20.0 deg
RWTO_MAX_ROLL (FLOAT)

Max roll during climbout. Roll is limited during climbout to ensure enough lift and prevents aggressive navigation before we're on a safe height

0.0 > 60.0 (0.5) 25.0 deg
RWTO_AIRSPD_SCL (FLOAT)

Min. airspeed scaling factor for takeoff. Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL

0.0 > 2.0 (0.01) 1.3 norm

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标签: px4开发指南