PX4开发指南-13.5.8.参考参数(八)

SD Logging

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

UTC offset (unit: min)

Comment: the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets

Module: src/modules/logger

-1000 > 1000 0 min
SDLOG_MODE (INT32)

Logging Mode

Comment: Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1).

Values:
  • 0: when armed until disarm (default)
  • 1: from boot until disarm
  • 2: from boot until shutdown
  • 3: from boot until shutdown - IMU and Baro data only (used for thermal calibration)

Reboot required: true

Module: src/modules/logger

0 > 3 0
SDLOG_UUID (INT32)

Log UUID

Comment: If set to 1, add an ID to the log, which uniquely identifies the vehicle

Module: src/modules/logger

1
SDLOG_RATE (INT32)

Logging rate

Comment: A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming).

Module: src/modules/sdlog2

-1 > 250 -1 Hz
SDLOG_EXT (INT32)

Extended logging mode

Comment: A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming).

Values:
  • -1: Command Line
  • 0: Disable
  • 1: Enable

Module: src/modules/sdlog2

-1 > 1 -1
SDLOG_GPSTIME (INT32)

Use timestamps only if GPS 3D fix is available

Comment: Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present.

Module: src/modules/sdlog2

1
SDLOG_PRIO_BOOST (INT32)

Give logging app higher thread priority to avoid data loss. This is used for gathering replay logs for the ekf2 module

Comment: A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority.

Values:
  • 0: Low priority
  • 1: Default priority
  • 2: Medium priority
  • 3: Max priority

Module: src/modules/sdlog2

0 > 3 2

Sensor Calibration

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

ID of the board this parameter set was calibrated on

0
CAL_GYRO0_ID (INT32)

ID of the Gyro that the calibration is for

0
CAL_GYRO0_XOFF (FLOAT)

Gyro X-axis offset

-10.0 > 10.0 0.0
CAL_GYRO0_YOFF (FLOAT)

Gyro Y-axis offset

-10.0 > 10.0 0.0
CAL_GYRO0_ZOFF (FLOAT)

Gyro Z-axis offset

-5.0 > 5.0 0.0
CAL_GYRO0_XSCALE (FLOAT)

Gyro X-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO0_YSCALE (FLOAT)

Gyro Y-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO0_ZSCALE (FLOAT)

Gyro Z-axis scaling factor

-1.5 > 1.5 1.0
CAL_MAG0_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG0_ROT (INT32)

Rotation of magnetometer 0 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG0_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG0_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG0_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG0_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG0_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG0_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC0_ID (INT32)

ID of the Accelerometer that the calibration is for

0
CAL_ACC0_XOFF (FLOAT)

Accelerometer X-axis offset

0.0
CAL_ACC0_YOFF (FLOAT)

Accelerometer Y-axis offset

0.0
CAL_ACC0_ZOFF (FLOAT)

Accelerometer Z-axis offset

0.0
CAL_ACC0_XSCALE (FLOAT)

Accelerometer X-axis scaling factor

1.0
CAL_ACC0_YSCALE (FLOAT)

Accelerometer Y-axis scaling factor

1.0
CAL_ACC0_ZSCALE (FLOAT)

Accelerometer Z-axis scaling factor

1.0
CAL_GYRO1_ID (INT32)

ID of the Gyro that the calibration is for

0
CAL_GYRO1_XOFF (FLOAT)

Gyro X-axis offset

-10.0 > 10.0 0.0
CAL_GYRO1_YOFF (FLOAT)

Gyro Y-axis offset

-10.0 > 10.0 0.0
CAL_GYRO1_ZOFF (FLOAT)

Gyro Z-axis offset

-5.0 > 5.0 0.0
CAL_GYRO1_XSCALE (FLOAT)

Gyro X-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO1_YSCALE (FLOAT)

Gyro Y-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO1_ZSCALE (FLOAT)

Gyro Z-axis scaling factor

-1.5 > 1.5 1.0
CAL_MAG1_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG1_ROT (INT32)

Rotation of magnetometer 1 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG1_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG1_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG1_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG1_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG1_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG1_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC1_ID (INT32)

ID of the Accelerometer that the calibration is for

0
CAL_ACC1_XOFF (FLOAT)

Accelerometer X-axis offset

0.0
CAL_ACC1_YOFF (FLOAT)

Accelerometer Y-axis offset

0.0
CAL_ACC1_ZOFF (FLOAT)

Accelerometer Z-axis offset

0.0
CAL_ACC1_XSCALE (FLOAT)

Accelerometer X-axis scaling factor

1.0
CAL_ACC1_YSCALE (FLOAT)

Accelerometer Y-axis scaling factor

1.0
CAL_ACC1_ZSCALE (FLOAT)

Accelerometer Z-axis scaling factor

1.0
CAL_GYRO2_ID (INT32)

ID of the Gyro that the calibration is for

0
CAL_GYRO2_XOFF (FLOAT)

Gyro X-axis offset

-10.0 > 10.0 0.0
CAL_GYRO2_YOFF (FLOAT)

Gyro Y-axis offset

-10.0 > 10.0 0.0
CAL_GYRO2_ZOFF (FLOAT)

Gyro Z-axis offset

-5.0 > 5.0 0.0
CAL_GYRO2_XSCALE (FLOAT)

Gyro X-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO2_YSCALE (FLOAT)

Gyro Y-axis scaling factor

-1.5 > 1.5 1.0
CAL_GYRO2_ZSCALE (FLOAT)

Gyro Z-axis scaling factor

-1.5 > 1.5 1.0
CAL_MAG2_ID (INT32)

ID of Magnetometer the calibration is for

0
CAL_MAG2_ROT (INT32)

Rotation of magnetometer 2 relative to airframe

Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal mag
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
-1 > 30 -1
CAL_MAG2_XOFF (FLOAT)

Magnetometer X-axis offset

-500.0 > 500.0 0.0
CAL_MAG2_YOFF (FLOAT)

Magnetometer Y-axis offset

-500.0 > 500.0 0.0
CAL_MAG2_ZOFF (FLOAT)

Magnetometer Z-axis offset

-500.0 > 500.0 0.0
CAL_MAG2_XSCALE (FLOAT)

Magnetometer X-axis scaling factor

1.0
CAL_MAG2_YSCALE (FLOAT)

Magnetometer Y-axis scaling factor

1.0
CAL_MAG2_ZSCALE (FLOAT)

Magnetometer Z-axis scaling factor

1.0
CAL_ACC2_ID (INT32)

ID of the Accelerometer that the calibration is for

0
CAL_ACC2_XOFF (FLOAT)

Accelerometer X-axis offset

0.0
CAL_ACC2_YOFF (FLOAT)

Accelerometer Y-axis offset

0.0
CAL_ACC2_ZOFF (FLOAT)

Accelerometer Z-axis offset

0.0
CAL_ACC2_XSCALE (FLOAT)

Accelerometer X-axis scaling factor

1.0
CAL_ACC2_YSCALE (FLOAT)

Accelerometer Y-axis scaling factor

1.0
CAL_ACC2_ZSCALE (FLOAT)

Accelerometer Z-axis scaling factor

1.0
CAL_ACC_PRIME (INT32)

Primary accel ID

0
CAL_GYRO_PRIME (INT32)

Primary gyro ID

0
CAL_MAG_PRIME (INT32)

Primary mag ID

0
CAL_MAG_SIDES (INT32)

Bitfield selecting mag sides for calibration

Comment: DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32

Values:
  • 34: Two side calibration
  • 38: Three side calibration
  • 63: Six side calibration
34 > 63 63
CAL_BARO_PRIME (INT32)

Primary baro ID

0
SENS_DPRES_OFF (FLOAT)

Differential pressure sensor offset

Comment: The offset (zero-reading) in Pascal

0.0
SENS_DPRES_ANSC (FLOAT)

Differential pressure sensor analog scaling

Comment: Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.

0
SENS_BARO_QNH (FLOAT)

QNH for barometer

500 > 1500 1013.25 hPa
SENS_BOARD_ROT (INT32)

Board rotation

Comment: This parameter defines the rotation of the FMU board relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
0
SENS_FLOW_ROT (INT32)

PX4Flow board rotation

Comment: This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

6
SENS_BOARD_Y_OFF (FLOAT)

Board rotation Y (Pitch) offset

Comment: This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.

0.0 deg
SENS_BOARD_X_OFF (FLOAT)

Board rotation X (Roll) offset

Comment: This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.

0.0 deg
SENS_BOARD_Z_OFF (FLOAT)

Board rotation Z (YAW) offset

Comment: This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.

0.0 deg
SENS_EXT_MAG_ROT (INT32)

External magnetometer rotation

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
0
SENS_EXT_MAG (INT32)

Select primary magnetometer

Values:
  • 0: Auto-select Mag
  • 1: External is primary Mag
  • 2: Internal is primary Mag
0 > 2 0
ATT_VIBE_THRESH (FLOAT)

Threshold (of RMS) to warn about high vibration levels

0.01 > 10 0.2

Sensor Enable

  • 定义这些参数的模块是:src/modules/sensors
NameDescriptionMin > Max (Incr.)DefaultUnits
SENS_EN_LL40LS (INT32)

Lidar-Lite (LL40LS) PWM

Reboot required: true

0
SENS_EN_SF0X (INT32)

Lightware laser rangefinder (serial)

Values:
  • 0: Disabled
  • 1: SF02
  • 2: SF10/a
  • 3: SF10/b
  • 4: SF10/c
  • 5: SF11/c

Reboot required: true

0 > 4 0
SENS_EN_MB12XX (INT32)

Maxbotix Soanr (mb12xx)

Reboot required: true

0
SENS_EN_TRONE (INT32)

TeraRanger One (trone)

Reboot required: true

0
SENS_EN_SF1XX (INT32)

Lightware SF1xx laser rangefinder (i2c)

Values:
  • 0: Disabled
  • 1: SF10/a
  • 2: SF10/b
  • 3: SF10/c
  • 4: SF11/c

Reboot required: true

0 > 4 0
SENS_EN_THERMAL (INT32)

Thermal control of sensor temperature

Values:
  • -1: Thermal control unavailable
  • 0: Thermal control off
-1

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标签: px4开发指南