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
| Name | Description | Min > Max (Incr.) | Default | Units |
|---|---|---|---|---|
| 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 | ||
| 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
| Name | Description | Min > Max (Incr.) | Default | Units |
|---|---|---|---|---|
| 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
| Name | Description | Min > Max (Incr.) | Default | Units |
|---|---|---|---|---|
| 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 > 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 > 18 | 0 | |
| RC_MAP_RETURN_SW (INT32) | Return switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_RATT_SW (INT32) | Rattitude switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_POSCTL_SW (INT32) | Position Control switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_LOITER_SW (INT32) | Loiter switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_ACRO_SW (INT32) | Acro switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_OFFB_SW (INT32) | Offboard switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_KILL_SW (INT32) | Kill switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_ARM_SW (INT32) | Arm switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_FLAPS (INT32) | Flaps channel Values:
|
0 > 18 | 0 | |
| RC_MAP_TRANS_SW (INT32) | VTOL transition switch channel mapping Values:
|
0 > 18 | 0 | |
| RC_MAP_GEAR_SW (INT32) | Landing gear switch channel Values:
|
0 > 18 | 0 | |
| RC_MAP_STAB_SW (INT32) | Stabilize switch channel mapping Values:
|
0 > 18 | 0 | |
| RC_MAP_MAN_SW (INT32) | Manual switch channel mapping Values:
|
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
| Name | Description | Min > Max (Incr.) | Default | Units |
|---|---|---|---|---|
| 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
| Name | Description | Min > Max (Incr.) | Default | Units |
|---|---|---|---|---|
| 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 > 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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